diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index 8829ee50..50e0daaf 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -28,12 +28,16 @@ jobs:
             BUILD_TYPE: binary
     env:
       ROS2_REPOS_FILE_URL: 'https://raw.githubusercontent.com/ros2/ros2/${{ matrix.ROS_DISTRO }}/ros2.repos'
+      RMW_MIDDLEWARE_TEST_PACKAGES: 'test_rclcpp rcl'
     runs-on: ubuntu-latest
     container:
       image: ${{ matrix.BUILD_TYPE == 'binary' && format('ros:{0}-ros-base', matrix.ROS_DISTRO) || 'ubuntu:noble' }}
     steps:
     - uses: ros-tooling/setup-ros@v0.7
       if: ${{ matrix.BUILD_TYPE == 'source' }}
+      with:
+        use-ros2-testing: true
+        required-ros-distributions: ${{ matrix.ROS_DISTRO }}
     - name: Install Coverage Tools
       if: ${{ matrix.BUILD_TYPE == 'binary' }}
       run: sudo apt update && sudo apt install -y python3-colcon-coveragepy-result python3-colcon-lcov-result lcov
@@ -42,7 +46,15 @@ jobs:
       uses: ros-tooling/action-ros-ci@v0.3
       with:
         package-name: |
+          ${{ matrix.BUILD_TYPE == 'source' && env.RMW_MIDDLEWARE_TEST_PACKAGES || '' }}
           rmw_zenoh_cpp
           zenoh_c_vendor
         target-ros2-distro: ${{ matrix.ROS_DISTRO }}
         vcs-repo-file-url: ${{ matrix.BUILD_TYPE == 'source' && env.ROS2_REPOS_FILE_URL || '' }}
+        skip-tests: true
+    - name: Run system_tests
+      if: ${{ matrix.BUILD_TYPE == 'source' }}
+      run: |
+        cd ${{ steps.action-ros-ci.outputs.ros-workspace-directory-name }}
+        . install/setup.sh
+        launch_test install/rmw_zenoh_cpp/test/rclcpp_integration.test.py workspace_directory:=`pwd .`
diff --git a/rmw_zenoh_cpp/CMakeLists.txt b/rmw_zenoh_cpp/CMakeLists.txt
index d2145006..2ee7e148 100644
--- a/rmw_zenoh_cpp/CMakeLists.txt
+++ b/rmw_zenoh_cpp/CMakeLists.txt
@@ -97,6 +97,9 @@ if(BUILD_TESTING)
   ament_lint_cmake()
   ament_uncrustify(EXCLUDE ${_linter_excludes})
   ament_xmllint()
+
+  install(FILES test/rclcpp_integration.test.py
+    DESTINATION test)
 endif()
 
 install(
diff --git a/rmw_zenoh_cpp/package.xml b/rmw_zenoh_cpp/package.xml
index 3da4920d..3c8e1404 100644
--- a/rmw_zenoh_cpp/package.xml
+++ b/rmw_zenoh_cpp/package.xml
@@ -25,6 +25,7 @@
   <depend>rosidl_typesupport_fastrtps_cpp</depend>
   <depend>rmw</depend>
 
+  <test_depend>ament_index_python</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
diff --git a/rmw_zenoh_cpp/test/test_rclcpp_launch.py b/rmw_zenoh_cpp/test/rclcpp_integration.test.py
similarity index 88%
rename from rmw_zenoh_cpp/test/test_rclcpp_launch.py
rename to rmw_zenoh_cpp/test/rclcpp_integration.test.py
index 63a17826..5c4f96ad 100644
--- a/rmw_zenoh_cpp/test/test_rclcpp_launch.py
+++ b/rmw_zenoh_cpp/test/rclcpp_integration.test.py
@@ -21,6 +21,7 @@
 
 import launch
 import launch.actions
+import launch.substitutions
 import launch_ros.actions
 import launch_testing.actions
 import launch_testing.markers
@@ -34,6 +35,9 @@
 @launch_testing.markers.keep_alive
 def generate_test_description():
 
+    workspace_directory = launch.substitutions.LaunchConfiguration('workspace_directory')
+    workspace_directory_arg = launch.actions.DeclareLaunchArgument('workspace_directory')
+
     zenoh_router = launch_ros.actions.Node(
         package="rmw_zenoh_cpp",
         executable="rmw_zenohd",
@@ -46,15 +50,17 @@ def generate_test_description():
             'colcon',
             'test',
             '--packages-select',
-            'rcl',
+            'test_rclcpp',
             '--retest-until-pass',
             '2',
         ],
         shell=True,
         env=proc_env,
+        cwd=workspace_directory
     )
 
     return launch.LaunchDescription([
+        workspace_directory_arg,
         zenoh_router,
         dut_process,
         # In tests where all of the procs under tests terminate themselves, it's necessary
@@ -66,7 +72,7 @@ def generate_test_description():
 
 class TestTerminatingProcessStops(unittest.TestCase):
     def test_proc_terminates(self, proc_info, dut_process):
-        proc_info.assertWaitForShutdown(process=dut_process, timeout=400)
+        proc_info.assertWaitForShutdown(process=dut_process, timeout=400000)
 
 # These tests are run after the processes in generate_test_description() have shutdown.
 @launch_testing.post_shutdown_test()