diff --git a/realsense2_camera/CMakeLists.txt b/realsense2_camera/CMakeLists.txt
index e998dd375d..a056cfbb18 100644
--- a/realsense2_camera/CMakeLists.txt
+++ b/realsense2_camera/CMakeLists.txt
@@ -303,36 +303,56 @@ if(BUILD_TESTING)
     test/rosbag
     test/post_processing_filters
   )
+  
+
+
+  foreach(test_folder ${_pytest_folders})
+    file(GLOB files "${test_folder}/test_*.py")
+    foreach(file ${files})
+
+    get_filename_component(_test_name ${file} NAME_WE)
+    ament_add_pytest_test(${_test_name} ${file}
+      APPEND_ENV PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}:${CMAKE_SOURCE_DIR}/test/utils:${CMAKE_SOURCE_DIR}/launch:${CMAKE_SOURCE_DIR}/scripts
+      TIMEOUT 60
+      WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+    )
+    endforeach()
+  endforeach()
+
+  unset(_pytest_folders)
+
   set(rs_query_cmd "rs-enumerate-devices -s")
   execute_process(COMMAND bash -c ${rs_query_cmd}
       WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}
       RESULT_VARIABLE rs_result
       OUTPUT_VARIABLE RS_DEVICE_INFO)
-  
- # message(STATUS "rs_result ${rs_result}")
   message(STATUS "rs_device_info:")
   message(STATUS "${RS_DEVICE_INFO}")
   if(RS_DEVICE_INFO MATCHES "D455")
     message(STATUS "D455 device found")
-    set(_pytest_folders
-      ${_pytest_folders}
-      test/d455
+    set(_pytest_live_folders
+      test/live_camera
+    )
+  elseif(RS_DEVICE_INFO MATCHES "D415")
+    message(STATUS "D415 device found")
+    set(_pytest_live_folders
+      test/live_camera
     )
   endif()
 
-
-  foreach(test_folder ${_pytest_folders})
+  foreach(test_folder ${_pytest_live_folders})
     file(GLOB files "${test_folder}/test_*.py")
     foreach(file ${files})
 
     get_filename_component(_test_name ${file} NAME_WE)
     ament_add_pytest_test(${_test_name} ${file}
       APPEND_ENV PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}:${CMAKE_SOURCE_DIR}/test/utils:${CMAKE_SOURCE_DIR}/launch:${CMAKE_SOURCE_DIR}/scripts
-      TIMEOUT 60
+      TIMEOUT 500
       WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
     )
     endforeach()
   endforeach()
+
 endif()
 
 # Ament exports
diff --git a/realsense2_camera/test/d455/test_d455_all_profile_tests.py b/realsense2_camera/test/d455/test_d455_all_profile_tests.py
deleted file mode 100644
index 6ce8b8789f..0000000000
--- a/realsense2_camera/test/d455/test_d455_all_profile_tests.py
+++ /dev/null
@@ -1,101 +0,0 @@
-# Copyright 2023 Intel Corporation. All Rights Reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-
-import os
-import sys
-import itertools
-
-
-import pytest
-import rclpy
-
-from sensor_msgs.msg import Image as msg_Image
-from sensor_msgs.msg import Imu as msg_Imu
-from sensor_msgs.msg import PointCloud2 as msg_PointCloud2
-
-import numpy as np
-
-sys.path.append(os.path.abspath(os.path.dirname(__file__)+"/../utils"))
-import pytest_rs_utils
-from pytest_rs_utils import launch_descr_with_parameters
-from pytest_rs_utils import delayed_launch_descr_with_parameters
-from pytest_rs_utils import get_rosbag_file_path
-import pytest_live_camera_utils
-from rclpy.parameter import Parameter
-from rcl_interfaces.msg import ParameterValue
-from rcl_interfaces.srv import SetParameters, GetParameters, ListParameters
-
-test_params_all_profiles = {
-    'camera_name': 'D455',
-    'device_type': 'D455',
-    }
-'''
-This test was implemented as a template to set the parameters and run the test.
-This directory is not added to the CMakeLists.txt so as to avoid the colcon failure in the
-machines that don't have the D455 connected.
-1. Only a subset of parameter types are implemented in py_rs_utils, it has to be extended for others
-2. After setting the param, rclpy.spin_once may be needed.Test passes even without this though.
-'''
-@pytest.mark.parametrize("launch_descr_with_parameters", [test_params_all_profiles],indirect=True)
-@pytest.mark.launch(fixture=launch_descr_with_parameters)
-class TestD455_Change_Resolution(pytest_rs_utils.RsTestBaseClass):
-    def test_D455_Change_Resolution(self,launch_descr_with_parameters):
-        params = launch_descr_with_parameters[1]
-        themes = [
-        {'topic':'/'+params['camera_name']+'/color/image_raw',
-         'msg_type':msg_Image,
-         'expected_data_chunks':1,
-         #'data':data
-        }
-        ]
-        try:
-            ''' 
-            initialize, run and check the data 
-            '''
-            serial_no = None
-            if 'serial_no' in params:
-                serial_no = params['serial_no']
-            cap = pytest_live_camera_utils.get_camera_capabilities(params['device_type'], serial_no)
-            self.init_test("RsTest"+params['camera_name'])
-            self.create_param_ifs(params['camera_name'] + '/' + params['camera_name'])
-            for profile in cap["color_profile"]:
-                if profile[0] == 'Color':
-                    print("Testing :" + profile[1] + " " + profile[2])
-                    if "BGRA8" == profile[2]:
-                        print("Skipping BGRA8" )
-                        continue
-                    if "RGBA8" == profile[2]:
-                        print("Skipping RGBA8" )
-                        continue
-                    if "Y8" == profile[2]:
-                        print("Skipping Y8" )
-                        continue
-                    self.set_string_param('rgb_camera.profile', profile[1])
-                    self.set_string_param('rgb_camera.color_format', profile[2])
-                    self.set_bool_param('enable_color', True)
-                    themes[0]['width'] = int(profile[1].split('x')[0])
-                    themes[0]['height'] = int(profile[1].split('x')[1])
-                    ret = self.run_test(themes)
-                    assert ret[0], ret[1]
-                    assert self.process_data(themes)
-
-            ret = self.run_test(themes)
-            assert self.process_data(themes)
-        finally:
-            #this step is important because the test will fail next time
-            pytest_rs_utils.kill_realsense2_camera_node()
-            self.shutdown()
-
-
diff --git a/realsense2_camera/test/live_camera/test_camera_all_profile_tests.py b/realsense2_camera/test/live_camera/test_camera_all_profile_tests.py
new file mode 100644
index 0000000000..1fdec0c75d
--- /dev/null
+++ b/realsense2_camera/test/live_camera/test_camera_all_profile_tests.py
@@ -0,0 +1,284 @@
+# Copyright 2023 Intel Corporation. All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+import os
+import sys
+import itertools
+
+
+import pytest
+import rclpy
+
+from sensor_msgs.msg import Image as msg_Image
+from sensor_msgs.msg import Imu as msg_Imu
+from sensor_msgs.msg import PointCloud2 as msg_PointCloud2
+
+import numpy as np
+
+sys.path.append(os.path.abspath(os.path.dirname(__file__)+"/../utils"))
+import pytest_rs_utils
+from pytest_rs_utils import launch_descr_with_parameters
+from pytest_rs_utils import delayed_launch_descr_with_parameters
+from pytest_rs_utils import get_rosbag_file_path
+import pytest_live_camera_utils
+from rclpy.parameter import Parameter
+from rcl_interfaces.msg import ParameterValue
+from rcl_interfaces.srv import SetParameters, GetParameters, ListParameters
+
+test_params_all_profiles_d455 = {
+    'camera_name': 'D455',
+    'device_type': 'D455',
+    }
+test_params_all_profiles_d415 = {
+    'camera_name': 'D415',
+    'device_type': 'D415',
+    }
+'''
+This test was implemented as a template to set the parameters and run the test.
+This directory is not added to the CMakeLists.txt so as to avoid the colcon failure in the
+machines that don't have the D455 connected.
+1. Only a subset of parameter types are implemented in py_rs_utils, it has to be extended for others
+2. After setting the param, rclpy.spin_once may be needed.Test passes even without this though.
+'''
+@pytest.mark.parametrize("launch_descr_with_parameters", [test_params_all_profiles_d415,test_params_all_profiles_d455],indirect=True)
+@pytest.mark.launch(fixture=launch_descr_with_parameters)
+class TestLiveCamera_Change_Resolution(pytest_rs_utils.RsTestBaseClass):
+    def test_LiveCamera_Change_Resolution(self,launch_descr_with_parameters):
+        skipped_tests = []
+        params = launch_descr_with_parameters[1]
+        themes = [
+        {'topic':'/'+params['camera_name']+'/color/image_raw',
+         'msg_type':msg_Image,
+         'expected_data_chunks':1,
+         #'data':data
+        }
+        ]
+        depth_themes = [
+        {'topic':'/'+params['camera_name']+'/depth/image_rect_raw',
+         'msg_type':msg_Image,
+         'expected_data_chunks':1,
+         #'data':data
+        }
+        ]  
+        infra_themes = [
+        {'topic':'/'+params['camera_name']+'/infra/image_rect_raw',
+         'msg_type':msg_Image,
+         'expected_data_chunks':1,
+         #'data':data
+        }
+        ]        
+        infra1_themes = [
+        {'topic':'/'+params['camera_name']+'/infra1/image_rect_raw',
+         'msg_type':msg_Image,
+         'expected_data_chunks':1,
+         #'data':data
+        }
+        ]   
+        infra2_themes = [
+        {'topic':'/'+params['camera_name']+'/infra2/image_rect_raw',
+         'msg_type':msg_Image,
+         'expected_data_chunks':1,
+         #'data':data
+        }
+        ]   
+        try:
+            ''' 
+            initialize, run and check the data 
+            '''
+            serial_no = None
+            if 'serial_no' in params:
+                serial_no = params['serial_no']
+            cap = pytest_live_camera_utils.get_camera_capabilities(params['device_type'], serial_no)
+            self.init_test("RsTest"+params['camera_name'])
+            self.create_param_ifs(params['camera_name'] + '/' + params['camera_name'])
+            for profile in cap["color_profile"]:
+                if profile[0] == 'Color':
+                    print("Testing :"+ profile[0] + " " + profile[1] + " " + profile[2])
+                    if "BGRA8" == profile[2]:
+                        print("Skipping " +profile[2])
+                        skipped_tests.append(profile[0] + " " + profile[1] + " " + profile[2])
+                        continue
+                    if "RGBA8" == profile[2]:
+                        skipped_tests.append(profile[0] + " " + profile[1] + " " + profile[2])
+                        print("Skipping " +profile[2])
+                        continue
+                    if "Y8" == profile[2]:
+                        skipped_tests.append(profile[0] + " " + profile[1] + " " + profile[2])
+                        print("Skipping " +profile[2])
+                        continue
+                    self.set_bool_param('enable_color', False)
+                    self.set_bool_param('enable_depth', False)
+                    self.set_bool_param('enable_infra', False)
+                    self.set_bool_param('enable_infra1', False)
+                    self.set_bool_param('enable_infra2', False)
+                    self.set_string_param('rgb_camera.profile', profile[1])
+                    self.set_string_param('rgb_camera.color_format', profile[2])
+                    self.set_bool_param('enable_color', True)
+                    themes[0]['width'] = int(profile[1].split('x')[0])
+                    themes[0]['height'] = int(profile[1].split('x')[1])
+                    ret = self.run_test(themes)
+                    assert ret[0], ret[1]
+                    assert self.process_data(themes)
+            for profile in cap["depth_profile"]:
+                self.set_bool_param('enable_color', False)
+                self.set_bool_param('enable_depth', False)
+                self.set_bool_param('enable_infra', False)
+                self.set_bool_param('enable_infra1', False)
+                self.set_bool_param('enable_infra2', False)
+                if profile[0] == 'Depth':
+                    print("Testing :"+ profile[0] + " " + profile[1] + " " + profile[2])
+                    if "Z16" == profile[2]:
+                        skipped_tests.append(profile[0] + " " + profile[1] + " " + profile[2])
+                        print("Skipping " +profile[2])
+                        continue
+                    self.set_string_param('depth_module.profile', profile[1])
+                    self.set_string_param('depth_module.depth_format', profile[2])
+                    self.set_bool_param('enable_depth', True)
+                    depth_themes[0]['width'] = int(profile[1].split('x')[0])
+                    depth_themes[0]['height'] = int(profile[1].split('x')[1])
+                    ret = self.run_test(depth_themes)
+                    assert ret[0], ret[1]
+                    assert self.process_data(depth_themes)
+
+
+                if profile[0] == 'Infrared':
+                    print("Testing :"+ profile[0] + " " + profile[1] + " " + profile[2])
+                    if "Y8" == profile[2]:
+                        skipped_tests.append( profile[0] + " " + profile[1] + " " + profile[2])
+                        print("Skipping " +profile[2])
+                        continue
+                    if "Y16" == profile[2]:
+                        skipped_tests.append(profile[0] + " " + profile[1] + " " + profile[2])
+                        print("Skipping " +profile[2])
+                        continue
+                    if "BGRA8" == profile[2]:
+                        skipped_tests.append(profile[0] + " " + profile[1] + " " + profile[2])
+                        print("Skipping " +profile[2])
+                        continue
+                    if "RGBA8" == profile[2]:
+                        skipped_tests.append(profile[0] + " " + profile[1] + " " + profile[2])
+                        print("Skipping " +profile[2])
+                        continue
+                    if "Y10BPACK" == profile[2]:
+                        skipped_tests.append(profile[0] + " " + profile[1] + " " + profile[2])
+                        print("Skipping " +profile[2])
+                        continue
+                    if "UYVY" == profile[2]:
+                        skipped_tests.append(profile[0] + " " + profile[1] + " " + profile[2])
+                        print("Skipping " +profile[2])
+                        continue
+                    if "BGR8" == profile[2]:
+                        print("Skipping " +profile[2])
+                        skipped_tests.append(profile[0] + " " + profile[1] + " " + profile[2])
+                        continue
+                    if "RGB8" == profile[2]:
+                        print("Skipping " +profile[2])
+                        skipped_tests.append(profile[0] + " " + profile[1] + " " + profile[2])
+                        continue
+                    if "RAW10" == profile[2]:
+                        print("Skipping " +profile[2])
+                        skipped_tests.append(profile[0] + " " + profile[1] + " " + profile[2])
+                        continue
+                    self.set_string_param('depth_module.profile', profile[1])
+                    self.set_string_param('depth_module.infra_format', profile[2])
+                    self.set_bool_param('enable_infra', True)
+                    infra_themes[0]['width'] = int(profile[1].split('x')[0])
+                    infra_themes[0]['height'] = int(profile[1].split('x')[1])
+                    ret = self.run_test(infra_themes)
+                    assert ret[0], ret[1]
+                    assert self.process_data(infra_themes)
+                if profile[0] == 'Infrared1':
+                    print("Testing :"+ profile[0] + " "  + profile[1] + " " + profile[2])
+                    if "Y8" == profile[2]:                    
+                        skipped_tests.append(profile[0] + " " + profile[1] + " " + profile[2])
+                        print("Skipping " +profile[2])
+                        continue
+                    if "Y16" == profile[2]:
+                        skipped_tests.append(profile[0] + " " + profile[1] + " " + profile[2])
+                        print("Skipping " +profile[2])
+                        continue
+                    if "Y10BPACK" == profile[2]:
+                        skipped_tests.append(profile[0] + " " + profile[1] + " " + profile[2])
+                        print("Skipping " +profile[2])
+                        continue
+                    if "UYVY" == profile[2]:
+                        skipped_tests.append(profile[0] + " " + profile[1] + " " + profile[2])
+                        print("Skipping " +profile[2])
+                        continue
+                    if "BGR8" == profile[2]:
+                        skipped_tests.append(profile[0] + " " + profile[1] + " " + profile[2])
+                        print("Skipping " +profile[2])
+                        continue
+                    if "RGB8" == profile[2]:
+                        skipped_tests.append(profile[0] + " " + profile[1] + " " + profile[2])
+                        print("Skipping " +profile[2])
+                        continue
+                    if "RAW10" == profile[2]:
+                        skipped_tests.append(profile[0] + " " + profile[1] + " " + profile[2])
+                        print("Skipping " +profile[2])
+                        continue
+                    self.set_string_param('depth_module.profile', profile[1])
+                    self.set_string_param('depth_module.infra1_format', profile[2])
+                    self.set_bool_param('enable_infra1', True)
+                    infra1_themes[0]['width'] = int(profile[1].split('x')[0])
+                    infra1_themes[0]['height'] = int(profile[1].split('x')[1])
+                    ret = self.run_test(infra1_themes)
+                    assert ret[0], ret[1]
+                    assert self.process_data(infra1_themes)
+                if profile[0] == 'Infrared2':                    
+                    if "Y8" == profile[2]:
+                        skipped_tests.append(profile[0] + " " + profile[1] + " " + profile[2])
+                        print("Skipping " +profile[2])
+                        continue
+                    if "Y16" == profile[2]:
+                        skipped_tests.append(profile[0] + " " + profile[1] + " " + profile[2])
+                        print("Skipping " +profile[2])
+                        continue
+                    if "Y10BPACK" == profile[2]:
+                        skipped_tests.append(profile[0] + " " + profile[1] + " " + profile[2])
+                        print("Skipping " +profile[2])
+                        continue
+                    if "UYVY" == profile[2]:
+                        skipped_tests.append(profile[0] + " " + profile[1] + " " + profile[2])
+                        print("Skipping " +profile[2])
+                        continue
+                    if "BGR8" == profile[2]:
+                        skipped_tests.append(profile[0] + " " + profile[1] + " " + profile[2])
+                        print("Skipping " +profile[2])
+                        continue
+                    if "RGB8" == profile[2]:
+                        skipped_tests.append(profile[0] + " " + profile[1] + " " + profile[2])
+                        print("Skipping " +profile[2])
+                        continue
+                    if "RAW10" == profile[2]:
+                        skipped_tests.append(profile[0] + " " + profile[1] + " " + profile[2])
+                        print("Skipping " +profile[2])
+                        continue
+                    self.set_string_param('depth_module.profile', profile[1])
+                    self.set_string_param('depth_module.infra2_format', profile[2])
+                    self.set_bool_param('enable_infra2', True)
+                    infra2_themes[0]['width'] = int(profile[1].split('x')[0])
+                    infra2_themes[0]['height'] = int(profile[1].split('x')[1])
+                    ret = self.run_test(infra2_themes)
+                    assert ret[0], ret[1]
+                    assert self.process_data(infra2_themes)
+        finally:
+            #this step is important because the test will fail next time
+            pytest_rs_utils.kill_realsense2_camera_node()
+            self.shutdown()
+            print("\nSkipped tests:" + params['device_type'])
+            print("\n".join(skipped_tests))
+
+
diff --git a/realsense2_camera/test/d455/test_d455_basic_tests.py b/realsense2_camera/test/live_camera/test_d455_basic_tests.py
similarity index 100%
rename from realsense2_camera/test/d455/test_d455_basic_tests.py
rename to realsense2_camera/test/live_camera/test_d455_basic_tests.py
diff --git a/realsense2_camera/test/utils/pytest_rs_utils.py b/realsense2_camera/test/utils/pytest_rs_utils.py
index 20e9fded71..b58d93307b 100644
--- a/realsense2_camera/test/utils/pytest_rs_utils.py
+++ b/realsense2_camera/test/utils/pytest_rs_utils.py
@@ -92,12 +92,13 @@ def init(self):
     def get_rosbag_path(self, filename):
         if filename in self.rosbag_files:
             return self.rosbag_location + "/" + filename
-rosbagMgr = RosbagManager()
+
 def get_rosbag_file_path(filename):
+    rosbagMgr = RosbagManager()
     path = rosbagMgr.get_rosbag_path(filename)
     assert path, "No rosbag file found :"+filename 
     return path
-
+get_rosbag_file_path.rosbagMgr = None
 
 def CameraInfoGetData(rec_filename, topic):
     data = importRosbag(rec_filename, importTopics=[topic], log='ERROR', disable_bar=True)[topic]