diff --git a/examples/chatter/tests.py b/examples/chatter/tests.py
index b375ea44..c47c0abd 100644
--- a/examples/chatter/tests.py
+++ b/examples/chatter/tests.py
@@ -17,10 +17,12 @@
 import launch
 import launch_ros.actions
 import launch_testing.actions
+import launch_testing.markers
 import rclpy
 import std_msgs.msg
 
 
+@launch_testing.markers.keep_alive
 def generate_test_description():
     talker_node = launch_ros.actions.Node(executable='chatter/talker',
                                           parameters=[
diff --git a/examples/lifecycle/BUILD.bazel b/examples/lifecycle/BUILD.bazel
index 203f8a8b..20f80b29 100644
--- a/examples/lifecycle/BUILD.bazel
+++ b/examples/lifecycle/BUILD.bazel
@@ -44,6 +44,7 @@ ros2_launch(
 
 ros2_test(
     name = "tests",
+    size = "small",
     launch_file = "tests.py",
     nodes = [
         ":lifecycle_listener",
diff --git a/examples/lifecycle/tests.py b/examples/lifecycle/tests.py
index d3a7be74..3b47be84 100644
--- a/examples/lifecycle/tests.py
+++ b/examples/lifecycle/tests.py
@@ -20,11 +20,13 @@
 import launch_ros.events.lifecycle
 import launch_testing.actions
 import launch_testing.asserts
+import launch_testing.markers
 import lifecycle_msgs.msg
 
 _Transition = lifecycle_msgs.msg.Transition
 
 
+@launch_testing.markers.keep_alive
 def generate_test_description():
     talker_node = launch_ros.actions.LifecycleNode(
         executable='lifecycle/lifecycle_talker',
diff --git a/examples/zero_copy/tests.py b/examples/zero_copy/tests.py
index 3d970a2e..e9d8d989 100644
--- a/examples/zero_copy/tests.py
+++ b/examples/zero_copy/tests.py
@@ -18,9 +18,11 @@
 import launch_ros.actions
 import launch_testing.actions
 import launch_testing.asserts
+import launch_testing.markers
 import zero_copy.roudi
 
 
+@launch_testing.markers.keep_alive
 def generate_test_description():
     talker_tests_node = launch_ros.actions.Node(
         executable='zero_copy/talker_tests',
diff --git a/repositories/private/BUILD.bazel b/repositories/private/BUILD.bazel
index e5c9d777..2861ba2c 100644
--- a/repositories/private/BUILD.bazel
+++ b/repositories/private/BUILD.bazel
@@ -32,6 +32,7 @@ py_binary(
 
 py_test(
     name = "tests",
+    size = "small",
     srcs = ["ros2_repo_mappings_tests.py"],
     data = ["@com_github_mvukov_rules_ros2//repositories:ros2_repo_mappings.yaml"],
     main = "ros2_repo_mappings_tests.py",
diff --git a/ros2/test/BUILD.bazel b/ros2/test/BUILD.bazel
index 42ed53ca..0c93374e 100644
--- a/ros2/test/BUILD.bazel
+++ b/ros2/test/BUILD.bazel
@@ -56,6 +56,7 @@ ros2_cpp_test(
 
 ros2_cpp_test(
     name = "generic_publisher_tests",
+    size = "small",
     srcs = ["generic_publisher_tests.cc"],
     idl_deps = [
         "@ros2_common_interfaces//:std_msgs",
diff --git a/ros2/test/image_common/BUILD.bazel b/ros2/test/image_common/BUILD.bazel
index fc118cbc..2f68be34 100644
--- a/ros2/test/image_common/BUILD.bazel
+++ b/ros2/test/image_common/BUILD.bazel
@@ -3,6 +3,7 @@ load("@com_github_mvukov_rules_ros2//ros2:test.bzl", "ros2_test")
 
 ros2_cpp_test(
     name = "image_transport_plugins_tests",
+    size = "small",
     srcs = ["image_transport_plugins_tests.cc"],
     set_up_ament = True,
     deps = [
diff --git a/ros2/test/pluginlib/BUILD.bazel b/ros2/test/pluginlib/BUILD.bazel
index a10bfa6e..8fd48049 100644
--- a/ros2/test/pluginlib/BUILD.bazel
+++ b/ros2/test/pluginlib/BUILD.bazel
@@ -41,6 +41,7 @@ ros2_plugin(
 
 ros2_cpp_test(
     name = "tests",
+    size = "small",
     srcs = ["plugin_tests.cc"],
     data = [
         ":square",
@@ -67,6 +68,7 @@ ros2_cpp_binary(
 
 ros2_py_test(
     name = "py_loader_tests",
+    size = "small",
     srcs = [
         "py_loader_tests.py",
     ],
@@ -96,6 +98,7 @@ ros2_cpp_binary(
 
 sh_test(
     name = "ros2_cpp_binary_test",
+    size = "small",
     srcs = ["ros2_cpp_binary_test.sh"],
     data = [
         ":plugin_tests_binary",
@@ -118,6 +121,7 @@ ros2_py_binary(
 
 sh_test(
     name = "ros2_py_library_test",
+    size = "small",
     srcs = [
         "ros2_py_binary_test.sh",
     ],
@@ -142,6 +146,7 @@ cpp_ament_setup_library(
 
 cc_test(
     name = "ament_setup_library_tests",
+    size = "small",
     srcs = ["ament_setup_library_tests.cc"],
     deps = [
         ":polygon_base",
diff --git a/ros2/test/rosbag/BUILD.bazel b/ros2/test/rosbag/BUILD.bazel
index 306a3a7f..1fadc86b 100644
--- a/ros2/test/rosbag/BUILD.bazel
+++ b/ros2/test/rosbag/BUILD.bazel
@@ -53,6 +53,7 @@ ros2_bag(
             ":publisher",
             ":recorder",
         ],
+        tags = ["cpu:2"],
         deps = [requirement("pyyaml")],
     )
     for storage_id in [
@@ -63,6 +64,7 @@ ros2_bag(
 
 ros2_py_test(
     name = "write_to_bag_tests",
+    size = "small",
     srcs = ["write_to_bag_tests.py"],
     main = "write_to_bag_tests.py",
     set_up_ament = True,
diff --git a/ros2/test/xacro/BUILD.bazel b/ros2/test/xacro/BUILD.bazel
index cbfcbcad..c20fedbc 100644
--- a/ros2/test/xacro/BUILD.bazel
+++ b/ros2/test/xacro/BUILD.bazel
@@ -24,6 +24,7 @@ xacro(
 
 py_test(
     name = "tests",
+    size = "small",
     srcs = ["tests.py"],
     data = [
         ":test_include",
diff --git a/third_party/foxglove_bridge/tests.py b/third_party/foxglove_bridge/tests.py
index 145dff00..e2581058 100644
--- a/third_party/foxglove_bridge/tests.py
+++ b/third_party/foxglove_bridge/tests.py
@@ -17,8 +17,10 @@
 import launch_ros.actions
 import launch_testing.actions
 import launch_testing.asserts
+import launch_testing.markers
 
 
+@launch_testing.markers.keep_alive
 def generate_test_description():
     test_node = launch_ros.actions.Node(
         executable='third_party/foxglove_bridge/foxglove_bridge_tests',