diff --git a/.gitignore b/.gitignore
index 3769a4ab..5c9f39c1 100644
--- a/.gitignore
+++ b/.gitignore
@@ -6,3 +6,6 @@
 
 # Visual Studio Code files
 .vscode
+
+# PyCache
+*.pyc
diff --git a/andino_description/CMakeLists.txt b/andino_description/CMakeLists.txt
index 16b4becc..0eacb21b 100644
--- a/andino_description/CMakeLists.txt
+++ b/andino_description/CMakeLists.txt
@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.8)
 project(andino_description)
 
 find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
 
 install(
   DIRECTORY
@@ -14,4 +15,19 @@ install(
     share/${PROJECT_NAME}/
 )
 
+if(BUILD_TESTING)
+  find_package(ament_cmake_pytest REQUIRED)
+  set(_pytest_tests
+    test/test_xacro_processing.py
+  )
+  foreach(_test_path ${_pytest_tests})
+    get_filename_component(_test_name ${_test_path} NAME_WE)
+    ament_add_pytest_test(${_test_name} ${_test_path}
+      APPEND_ENV PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}
+      TIMEOUT 60
+      WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+    )
+  endforeach()
+endif()
+
 ament_package()
diff --git a/andino_description/package.xml b/andino_description/package.xml
index 5d630556..20d4cac2 100644
--- a/andino_description/package.xml
+++ b/andino_description/package.xml
@@ -9,6 +9,7 @@
   <license file="LICENSE">BSD Clause 3</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_python</buildtool_depend>
 
   <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
@@ -16,6 +17,9 @@
   <exec_depend>rviz2</exec_depend>
   <exec_depend>xacro</exec_depend>
 
+  <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>ament_index_python</test_depend>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>
diff --git a/andino_description/test/test_xacro_processing.py b/andino_description/test/test_xacro_processing.py
new file mode 100644
index 00000000..6b3fe7fc
--- /dev/null
+++ b/andino_description/test/test_xacro_processing.py
@@ -0,0 +1,45 @@
+# BSD 3-Clause License
+
+# Copyright (c) 2024, Ekumen Inc.
+# All rights reserved.
+
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+
+# 1. Redistributions of source code must retain the above copyright notice, this
+#    list of conditions and the following disclaimer.
+
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+#    this list of conditions and the following disclaimer in the documentation
+#    and/or other materials provided with the distribution.
+
+# 3. Neither the name of the copyright holder nor the names of its
+#    contributors may be used to endorse or promote products derived from
+#    this software without specific prior written permission.
+
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+import os
+import pytest
+import xacro
+from ament_index_python.packages import get_package_share_directory
+
+def test_xacro_processing():
+    """Test main xacro file (andino.urdf.xacro) processing"""
+    # Get the file path.
+    xacro_file_path = os.path.join(get_package_share_directory("andino_description"), 'urdf', 'andino.urdf.xacro')
+
+    # Test xacro processing.
+    try:
+        xacro.process_file(xacro_file_path)
+    except Exception as e:
+        pytest.fail(f"Xacro processing failed: {e}")