diff --git a/example_1/CMakeLists.txt b/example_1/CMakeLists.txt
index b4499c655..d594efdfa 100644
--- a/example_1/CMakeLists.txt
+++ b/example_1/CMakeLists.txt
@@ -64,11 +64,18 @@ install(TARGETS ros2_control_demo_example_1
 
 if(BUILD_TESTING)
   find_package(ament_cmake_pytest REQUIRED)
-
   ament_add_pytest_test(example_1_urdf_xacro test/test_urdf_xacro.py)
-  ament_add_pytest_test(view_example_1_launch test/test_view_robot_launch.py)
-  ament_add_pytest_test(run_example_1_launch test/test_rrbot_launch.py)
-  ament_add_pytest_test(run_example_1_launch_cli_direct test/test_rrbot_launch_cli_direct.py)
+
+  # Integration (launch) tests
+  find_package(ament_cmake_ros REQUIRED)
+  find_package(launch_testing_ament_cmake REQUIRED)
+  function(add_ros_isolated_launch_test path)
+    set(RUNNER "${ament_cmake_ros_DIR}/run_test_isolated.py")
+    add_launch_test("${path}" RUNNER "${RUNNER}" ${ARGN})
+  endfunction()
+  add_ros_isolated_launch_test(test/test_view_robot_launch.py)
+  add_ros_isolated_launch_test(test/test_rrbot_launch.py)
+  add_ros_isolated_launch_test(test/test_rrbot_launch_cli_direct.py)
 endif()
 
 
diff --git a/example_1/package.xml b/example_1/package.xml
index f83538634..7d00355ab 100644
--- a/example_1/package.xml
+++ b/example_1/package.xml
@@ -37,10 +37,12 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
-  <test_depend>controller_manager</test_depend>
-  <test_depend>launch_testing_ros</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
+  <test_depend>launch_testing_ament_cmake</test_depend>
+  <test_depend>launch_testing</test_depend>
+  <test_depend>launch</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
-  <test_depend>xacro</test_depend>
+  <test_depend>rclpy</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/example_10/CMakeLists.txt b/example_10/CMakeLists.txt
index 449ec6fab..b63cb3661 100644
--- a/example_10/CMakeLists.txt
+++ b/example_10/CMakeLists.txt
@@ -66,10 +66,17 @@ install(TARGETS ros2_control_demo_example_10
 
 if(BUILD_TESTING)
   find_package(ament_cmake_pytest REQUIRED)
-
   ament_add_pytest_test(example_10_urdf_xacro test/test_urdf_xacro.py)
-  ament_add_pytest_test(view_example_10_launch test/test_view_robot_launch.py)
-  ament_add_pytest_test(run_example_10_launch test/test_rrbot_launch.py)
+
+  # Integration (launch) tests
+  find_package(ament_cmake_ros REQUIRED)
+  find_package(launch_testing_ament_cmake REQUIRED)
+  function(add_ros_isolated_launch_test path)
+    set(RUNNER "${ament_cmake_ros_DIR}/run_test_isolated.py")
+    add_launch_test("${path}" RUNNER "${RUNNER}" ${ARGN})
+  endfunction()
+  add_ros_isolated_launch_test(test/test_view_robot_launch.py)
+  add_ros_isolated_launch_test(test/test_rrbot_launch.py)
 endif()
 
 ## EXPORTS
diff --git a/example_10/package.xml b/example_10/package.xml
index 1967d58c0..ca2e59e92 100644
--- a/example_10/package.xml
+++ b/example_10/package.xml
@@ -36,10 +36,12 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
-  <test_depend>controller_manager</test_depend>
-  <test_depend>launch_testing_ros</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
+  <test_depend>launch_testing_ament_cmake</test_depend>
+  <test_depend>launch_testing</test_depend>
+  <test_depend>launch</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
-  <test_depend>xacro</test_depend>
+  <test_depend>rclpy</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/example_11/CMakeLists.txt b/example_11/CMakeLists.txt
index 9a66bcd36..80d4dbda3 100644
--- a/example_11/CMakeLists.txt
+++ b/example_11/CMakeLists.txt
@@ -64,11 +64,18 @@ install(TARGETS ros2_control_demo_example_11
 
 if(BUILD_TESTING)
   find_package(ament_cmake_pytest REQUIRED)
-
   ament_add_pytest_test(example_11_urdf_xacro test/test_urdf_xacro.py)
-  ament_add_pytest_test(view_example_11_launch test/test_view_robot_launch.py)
-  ament_add_pytest_test(run_example_11_launch test/test_carlikebot_launch.py)
-  ament_add_pytest_test(run_example_11_launch_remapped test/test_carlikebot_launch_remapped.py)
+
+  # Integration (launch) tests
+  find_package(ament_cmake_ros REQUIRED)
+  find_package(launch_testing_ament_cmake REQUIRED)
+  function(add_ros_isolated_launch_test path)
+    set(RUNNER "${ament_cmake_ros_DIR}/run_test_isolated.py")
+    add_launch_test("${path}" RUNNER "${RUNNER}" ${ARGN})
+  endfunction()
+  add_ros_isolated_launch_test(test/test_view_robot_launch.py)
+  add_ros_isolated_launch_test(test/test_carlikebot_launch.py)
+  add_ros_isolated_launch_test(test/test_carlikebot_launch_remapped.py)
 endif()
 
 ## EXPORTS
diff --git a/example_11/package.xml b/example_11/package.xml
index 9f6433f15..45687138b 100644
--- a/example_11/package.xml
+++ b/example_11/package.xml
@@ -34,12 +34,12 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
-  <test_depend>controller_manager</test_depend>
-  <test_depend>launch_testing_ros</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
+  <test_depend>launch_testing_ament_cmake</test_depend>
   <test_depend>launch_testing</test_depend>
   <test_depend>launch</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
-  <test_depend>xacro</test_depend>
+  <test_depend>rclpy</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/example_12/CMakeLists.txt b/example_12/CMakeLists.txt
index ec887f4c3..2988034e6 100644
--- a/example_12/CMakeLists.txt
+++ b/example_12/CMakeLists.txt
@@ -102,10 +102,17 @@ install(TARGETS
 
 if(BUILD_TESTING)
   find_package(ament_cmake_pytest REQUIRED)
-
   ament_add_pytest_test(example_12_urdf_xacro test/test_urdf_xacro.py)
-  ament_add_pytest_test(view_example_12_launch test/test_view_robot_launch.py)
-  ament_add_pytest_test(run_example_12_launch test/test_rrbot_launch.py)
+
+  # Integration (launch) tests
+  find_package(ament_cmake_ros REQUIRED)
+  find_package(launch_testing_ament_cmake REQUIRED)
+  function(add_ros_isolated_launch_test path)
+    set(RUNNER "${ament_cmake_ros_DIR}/run_test_isolated.py")
+    add_launch_test("${path}" RUNNER "${RUNNER}" ${ARGN})
+  endfunction()
+  add_ros_isolated_launch_test(test/test_view_robot_launch.py)
+  add_ros_isolated_launch_test(test/test_rrbot_launch.py)
 endif()
 
 ## EXPORTS
diff --git a/example_12/package.xml b/example_12/package.xml
index 0770d5e43..162e36199 100644
--- a/example_12/package.xml
+++ b/example_12/package.xml
@@ -36,10 +36,12 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
-  <test_depend>controller_manager</test_depend>
-  <test_depend>launch_testing_ros</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
+  <test_depend>launch_testing_ament_cmake</test_depend>
+  <test_depend>launch_testing</test_depend>
+  <test_depend>launch</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
-  <test_depend>xacro</test_depend>
+  <test_depend>rclpy</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/example_13/package.xml b/example_13/package.xml
index 83d384f0d..4baa3e635 100644
--- a/example_13/package.xml
+++ b/example_13/package.xml
@@ -33,14 +33,11 @@
 
   <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>ament_cmake_ros</test_depend>
-  <test_depend>controller_manager</test_depend>
-  <test_depend>launch_ros</test_depend>
   <test_depend>launch_testing_ament_cmake</test_depend>
   <test_depend>launch_testing</test_depend>
   <test_depend>launch</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
   <test_depend>rclpy</test_depend>
-  <test_depend>xacro</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/example_14/CMakeLists.txt b/example_14/CMakeLists.txt
index 6287ceba6..cc3251624 100644
--- a/example_14/CMakeLists.txt
+++ b/example_14/CMakeLists.txt
@@ -66,10 +66,17 @@ install(TARGETS ros2_control_demo_example_14
 
 if(BUILD_TESTING)
   find_package(ament_cmake_pytest REQUIRED)
-
   ament_add_pytest_test(example_14_urdf_xacro test/test_urdf_xacro.py)
-  ament_add_pytest_test(view_example_14_launch test/test_view_robot_launch.py)
-  ament_add_pytest_test(run_example_14_launch test/test_rrbot_modular_actuators_without_feedback_sensors_for_position_feedback_launch.py)
+
+  # Integration (launch) tests
+  find_package(ament_cmake_ros REQUIRED)
+  find_package(launch_testing_ament_cmake REQUIRED)
+  function(add_ros_isolated_launch_test path)
+    set(RUNNER "${ament_cmake_ros_DIR}/run_test_isolated.py")
+    add_launch_test("${path}" RUNNER "${RUNNER}" ${ARGN})
+  endfunction()
+  add_ros_isolated_launch_test(test/test_view_robot_launch.py)
+  add_ros_isolated_launch_test(test/test_rrbot_modular_actuators_without_feedback_sensors_for_position_feedback_launch.py)
 endif()
 
 ## EXPORTS
diff --git a/example_14/package.xml b/example_14/package.xml
index eae3d7196..0360c0522 100644
--- a/example_14/package.xml
+++ b/example_14/package.xml
@@ -33,10 +33,12 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
-  <test_depend>controller_manager</test_depend>
-  <test_depend>launch_testing_ros</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
+  <test_depend>launch_testing_ament_cmake</test_depend>
+  <test_depend>launch_testing</test_depend>
+  <test_depend>launch</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
-  <test_depend>xacro</test_depend>
+  <test_depend>rclpy</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/example_15/CMakeLists.txt b/example_15/CMakeLists.txt
index 53ab216dc..95199c2e3 100644
--- a/example_15/CMakeLists.txt
+++ b/example_15/CMakeLists.txt
@@ -26,11 +26,15 @@ install(
 )
 
 if(BUILD_TESTING)
-  find_package(ament_cmake_pytest REQUIRED)
-
-  ament_add_pytest_test(test_rrbot_namespace_launch test/test_rrbot_namespace_launch.py)
-  ament_add_pytest_test(test_multi_controller_manager_launch test/test_multi_controller_manager_launch.py)
-
+  # Integration (launch) tests
+  find_package(ament_cmake_ros REQUIRED)
+  find_package(launch_testing_ament_cmake REQUIRED)
+  function(add_ros_isolated_launch_test path)
+    set(RUNNER "${ament_cmake_ros_DIR}/run_test_isolated.py")
+    add_launch_test("${path}" RUNNER "${RUNNER}" ${ARGN})
+  endfunction()
+  add_ros_isolated_launch_test(test/test_rrbot_namespace_launch.py)
+  add_ros_isolated_launch_test(test/test_multi_controller_manager_launch.py)
 endif()
 
 ## EXPORTS
diff --git a/example_15/package.xml b/example_15/package.xml
index 4fd784290..832f92804 100644
--- a/example_15/package.xml
+++ b/example_15/package.xml
@@ -31,10 +31,12 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
-  <test_depend>controller_manager</test_depend>
-  <test_depend>launch_testing_ros</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
+  <test_depend>launch_testing_ament_cmake</test_depend>
+  <test_depend>launch_testing</test_depend>
+  <test_depend>launch</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
-  <test_depend>xacro</test_depend>
+  <test_depend>rclpy</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/example_2/CMakeLists.txt b/example_2/CMakeLists.txt
index f419e6fde..16c3fda5e 100644
--- a/example_2/CMakeLists.txt
+++ b/example_2/CMakeLists.txt
@@ -64,10 +64,17 @@ install(TARGETS ros2_control_demo_example_2
 
 if(BUILD_TESTING)
   find_package(ament_cmake_pytest REQUIRED)
-
   ament_add_pytest_test(example_2_urdf_xacro test/test_urdf_xacro.py)
-  ament_add_pytest_test(view_example_2_launch test/test_view_robot_launch.py)
-  ament_add_pytest_test(run_example_2_launch test/test_diffbot_launch.py)
+
+  # Integration (launch) tests
+  find_package(ament_cmake_ros REQUIRED)
+  find_package(launch_testing_ament_cmake REQUIRED)
+  function(add_ros_isolated_launch_test path)
+    set(RUNNER "${ament_cmake_ros_DIR}/run_test_isolated.py")
+    add_launch_test("${path}" RUNNER "${RUNNER}" ${ARGN})
+  endfunction()
+  add_ros_isolated_launch_test(test/test_view_robot_launch.py)
+  add_ros_isolated_launch_test(test/test_diffbot_launch.py)
 endif()
 
 ## EXPORTS
diff --git a/example_2/package.xml b/example_2/package.xml
index 4d957da15..20aa23153 100644
--- a/example_2/package.xml
+++ b/example_2/package.xml
@@ -35,10 +35,12 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
-  <test_depend>controller_manager</test_depend>
-  <test_depend>launch_testing_ros</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
+  <test_depend>launch_testing_ament_cmake</test_depend>
+  <test_depend>launch_testing</test_depend>
+  <test_depend>launch</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
-  <test_depend>xacro</test_depend>
+  <test_depend>rclpy</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/example_3/CMakeLists.txt b/example_3/CMakeLists.txt
index 703c47f9d..fe8448ae0 100644
--- a/example_3/CMakeLists.txt
+++ b/example_3/CMakeLists.txt
@@ -64,10 +64,17 @@ install(TARGETS ros2_control_demo_example_3
 
 if(BUILD_TESTING)
   find_package(ament_cmake_pytest REQUIRED)
-
   ament_add_pytest_test(example_3_urdf_xacro test/test_urdf_xacro.py)
-  ament_add_pytest_test(view_example_3_launch test/test_view_robot_launch.py)
-  ament_add_pytest_test(run_example_3_launch test/test_rrbot_system_multi_interface_launch.py)
+
+  # Integration (launch) tests
+  find_package(ament_cmake_ros REQUIRED)
+  find_package(launch_testing_ament_cmake REQUIRED)
+  function(add_ros_isolated_launch_test path)
+    set(RUNNER "${ament_cmake_ros_DIR}/run_test_isolated.py")
+    add_launch_test("${path}" RUNNER "${RUNNER}" ${ARGN})
+  endfunction()
+  add_ros_isolated_launch_test(test/test_view_robot_launch.py)
+  add_ros_isolated_launch_test(test/test_rrbot_system_multi_interface_launch.py)
 endif()
 
 ## EXPORTS
diff --git a/example_3/package.xml b/example_3/package.xml
index ed71316a4..e5ed16ef5 100644
--- a/example_3/package.xml
+++ b/example_3/package.xml
@@ -35,10 +35,12 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
-  <test_depend>controller_manager</test_depend>
-  <test_depend>launch_testing_ros</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
+  <test_depend>launch_testing_ament_cmake</test_depend>
+  <test_depend>launch_testing</test_depend>
+  <test_depend>launch</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
-  <test_depend>xacro</test_depend>
+  <test_depend>rclpy</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/example_4/CMakeLists.txt b/example_4/CMakeLists.txt
index 0666fc26d..dcf824e91 100644
--- a/example_4/CMakeLists.txt
+++ b/example_4/CMakeLists.txt
@@ -64,10 +64,17 @@ install(TARGETS ros2_control_demo_example_4
 
 if(BUILD_TESTING)
   find_package(ament_cmake_pytest REQUIRED)
-
   ament_add_pytest_test(example_4_urdf_xacro test/test_urdf_xacro.py)
-  ament_add_pytest_test(view_example_4_launch test/test_view_robot_launch.py)
-  ament_add_pytest_test(run_example_4_launch test/test_rrbot_system_with_sensor_launch.py)
+
+  # Integration (launch) tests
+  find_package(ament_cmake_ros REQUIRED)
+  find_package(launch_testing_ament_cmake REQUIRED)
+  function(add_ros_isolated_launch_test path)
+    set(RUNNER "${ament_cmake_ros_DIR}/run_test_isolated.py")
+    add_launch_test("${path}" RUNNER "${RUNNER}" ${ARGN})
+  endfunction()
+  add_ros_isolated_launch_test(test/test_view_robot_launch.py)
+  add_ros_isolated_launch_test(test/test_rrbot_system_with_sensor_launch.py)
 endif()
 
 ## EXPORTS
diff --git a/example_4/package.xml b/example_4/package.xml
index ea1fe7345..785e983cd 100644
--- a/example_4/package.xml
+++ b/example_4/package.xml
@@ -34,10 +34,12 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
-  <test_depend>controller_manager</test_depend>
-  <test_depend>launch_testing_ros</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
+  <test_depend>launch_testing_ament_cmake</test_depend>
+  <test_depend>launch_testing</test_depend>
+  <test_depend>launch</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
-  <test_depend>xacro</test_depend>
+  <test_depend>rclpy</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/example_5/CMakeLists.txt b/example_5/CMakeLists.txt
index b5e2ed8cd..ccf9ef898 100644
--- a/example_5/CMakeLists.txt
+++ b/example_5/CMakeLists.txt
@@ -65,10 +65,17 @@ install(TARGETS ros2_control_demo_example_5
 
 if(BUILD_TESTING)
   find_package(ament_cmake_pytest REQUIRED)
-
   ament_add_pytest_test(example_5_urdf_xacro test/test_urdf_xacro.py)
-  ament_add_pytest_test(view_example_5_launch test/test_view_robot_launch.py)
-  ament_add_pytest_test(run_example_5_launch test/test_rrbot_system_with_external_sensor_launch.py)
+
+  # Integration (launch) tests
+  find_package(ament_cmake_ros REQUIRED)
+  find_package(launch_testing_ament_cmake REQUIRED)
+  function(add_ros_isolated_launch_test path)
+    set(RUNNER "${ament_cmake_ros_DIR}/run_test_isolated.py")
+    add_launch_test("${path}" RUNNER "${RUNNER}" ${ARGN})
+  endfunction()
+  add_ros_isolated_launch_test(test/test_view_robot_launch.py)
+  add_ros_isolated_launch_test(test/test_rrbot_system_with_external_sensor_launch.py)
 endif()
 
 ## EXPORTS
diff --git a/example_5/package.xml b/example_5/package.xml
index 0a349f535..f7a25f072 100644
--- a/example_5/package.xml
+++ b/example_5/package.xml
@@ -34,10 +34,12 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
-  <test_depend>controller_manager</test_depend>
-  <test_depend>launch_testing_ros</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
+  <test_depend>launch_testing_ament_cmake</test_depend>
+  <test_depend>launch_testing</test_depend>
+  <test_depend>launch</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
-  <test_depend>xacro</test_depend>
+  <test_depend>rclpy</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/example_6/CMakeLists.txt b/example_6/CMakeLists.txt
index da5ce30e4..40e58a90e 100644
--- a/example_6/CMakeLists.txt
+++ b/example_6/CMakeLists.txt
@@ -64,10 +64,17 @@ install(TARGETS ros2_control_demo_example_6
 
 if(BUILD_TESTING)
   find_package(ament_cmake_pytest REQUIRED)
-
   ament_add_pytest_test(example_6_urdf_xacro test/test_urdf_xacro.py)
-  ament_add_pytest_test(view_example_6_launch test/test_view_robot_launch.py)
-  ament_add_pytest_test(run_example_6_launch test/test_rrbot_modular_actuators_launch.py)
+
+  # Integration (launch) tests
+  find_package(ament_cmake_ros REQUIRED)
+  find_package(launch_testing_ament_cmake REQUIRED)
+  function(add_ros_isolated_launch_test path)
+    set(RUNNER "${ament_cmake_ros_DIR}/run_test_isolated.py")
+    add_launch_test("${path}" RUNNER "${RUNNER}" ${ARGN})
+  endfunction()
+  add_ros_isolated_launch_test(test/test_view_robot_launch.py)
+  add_ros_isolated_launch_test(test/test_rrbot_modular_actuators_launch.py)
 endif()
 
 ## EXPORTS
diff --git a/example_6/package.xml b/example_6/package.xml
index d7c3d7c17..b6914e76e 100644
--- a/example_6/package.xml
+++ b/example_6/package.xml
@@ -33,10 +33,12 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
-  <test_depend>controller_manager</test_depend>
-  <test_depend>launch_testing_ros</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
+  <test_depend>launch_testing_ament_cmake</test_depend>
+  <test_depend>launch_testing</test_depend>
+  <test_depend>launch</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
-  <test_depend>xacro</test_depend>
+  <test_depend>rclpy</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/example_7/CMakeLists.txt b/example_7/CMakeLists.txt
index 7ce5fd05e..97304bfc4 100644
--- a/example_7/CMakeLists.txt
+++ b/example_7/CMakeLists.txt
@@ -99,10 +99,17 @@ install(TARGETS ros2_control_demo_example_7
 
 if(BUILD_TESTING)
   find_package(ament_cmake_pytest REQUIRED)
-
   ament_add_pytest_test(example_7_urdf_xacro test/test_urdf_xacro.py)
-  ament_add_pytest_test(view_example_7_launch test/test_view_robot_launch.py)
-  ament_add_pytest_test(run_example_7_launch test/test_r6bot_controller_launch.py)
+
+  # Integration (launch) tests
+  find_package(ament_cmake_ros REQUIRED)
+  find_package(launch_testing_ament_cmake REQUIRED)
+  function(add_ros_isolated_launch_test path)
+    set(RUNNER "${ament_cmake_ros_DIR}/run_test_isolated.py")
+    add_launch_test("${path}" RUNNER "${RUNNER}" ${ARGN})
+  endfunction()
+  add_ros_isolated_launch_test(test/test_view_robot_launch.py)
+  add_ros_isolated_launch_test(test/test_r6bot_controller_launch.py)
 endif()
 
 ## EXPORTS
diff --git a/example_7/package.xml b/example_7/package.xml
index 8f692d719..70940255c 100644
--- a/example_7/package.xml
+++ b/example_7/package.xml
@@ -42,10 +42,12 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
-  <test_depend>controller_manager</test_depend>
-  <test_depend>launch_testing_ros</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
+  <test_depend>launch_testing_ament_cmake</test_depend>
+  <test_depend>launch_testing</test_depend>
+  <test_depend>launch</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
-  <test_depend>xacro</test_depend>
+  <test_depend>rclpy</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/example_8/CMakeLists.txt b/example_8/CMakeLists.txt
index 1edeb7888..000f2d018 100644
--- a/example_8/CMakeLists.txt
+++ b/example_8/CMakeLists.txt
@@ -65,10 +65,17 @@ install(TARGETS ros2_control_demo_example_8
 
 if(BUILD_TESTING)
   find_package(ament_cmake_pytest REQUIRED)
-
   ament_add_pytest_test(example_8_urdf_xacro test/test_urdf_xacro.py)
-  ament_add_pytest_test(view_example_8_launch test/test_view_robot_launch.py)
-  ament_add_pytest_test(run_example_8_launch test/test_rrbot_transmissions_system_position_only_launch.py)
+
+  # Integration (launch) tests
+  find_package(ament_cmake_ros REQUIRED)
+  find_package(launch_testing_ament_cmake REQUIRED)
+  function(add_ros_isolated_launch_test path)
+    set(RUNNER "${ament_cmake_ros_DIR}/run_test_isolated.py")
+    add_launch_test("${path}" RUNNER "${RUNNER}" ${ARGN})
+  endfunction()
+  add_ros_isolated_launch_test(test/test_view_robot_launch.py)
+  add_ros_isolated_launch_test(test/test_rrbot_transmissions_system_position_only_launch.py)
 endif()
 
 ## EXPORTS
diff --git a/example_8/package.xml b/example_8/package.xml
index 43c9c7764..537e4f558 100644
--- a/example_8/package.xml
+++ b/example_8/package.xml
@@ -36,10 +36,12 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
-  <test_depend>controller_manager</test_depend>
-  <test_depend>launch_testing_ros</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
+  <test_depend>launch_testing_ament_cmake</test_depend>
+  <test_depend>launch_testing</test_depend>
+  <test_depend>launch</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
-  <test_depend>xacro</test_depend>
+  <test_depend>rclpy</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/example_9/CMakeLists.txt b/example_9/CMakeLists.txt
index 3c76f9dd7..c6ec113fe 100644
--- a/example_9/CMakeLists.txt
+++ b/example_9/CMakeLists.txt
@@ -64,11 +64,18 @@ install(TARGETS ros2_control_demo_example_9
 
 if(BUILD_TESTING)
   find_package(ament_cmake_pytest REQUIRED)
-
   ament_add_pytest_test(example_9_urdf_xacro test/test_urdf_xacro.py)
-  ament_add_pytest_test(view_example_9_launch test/test_view_robot_launch.py)
-  ament_add_pytest_test(run_example_9_launch test/test_rrbot_launch.py)
-  ament_add_pytest_test(run_example_9_gazebo_launch test/test_rrbot_gazebo_launch.py)
+
+  # Integration (launch) tests
+  find_package(ament_cmake_ros REQUIRED)
+  find_package(launch_testing_ament_cmake REQUIRED)
+  function(add_ros_isolated_launch_test path)
+    set(RUNNER "${ament_cmake_ros_DIR}/run_test_isolated.py")
+    add_launch_test("${path}" RUNNER "${RUNNER}" ${ARGN})
+  endfunction()
+  add_ros_isolated_launch_test(test/test_view_robot_launch.py)
+  add_ros_isolated_launch_test(test/test_rrbot_launch.py)
+  add_ros_isolated_launch_test(test/test_rrbot_gazebo_launch.py)
 endif()
 
 ## EXPORTS
diff --git a/example_9/package.xml b/example_9/package.xml
index fbf94e432..bd83ab7bc 100644
--- a/example_9/package.xml
+++ b/example_9/package.xml
@@ -39,10 +39,12 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
-  <test_depend>controller_manager</test_depend>
-  <test_depend>launch_testing_ros</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
+  <test_depend>launch_testing_ament_cmake</test_depend>
+  <test_depend>launch_testing</test_depend>
+  <test_depend>launch</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
-  <test_depend>xacro</test_depend>
+  <test_depend>rclpy</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>