diff --git a/.github/workflows/test_build.yml b/.github/workflows/test_build.yml
index efc42380..27e59b87 100644
--- a/.github/workflows/test_build.yml
+++ b/.github/workflows/test_build.yml
@@ -33,7 +33,7 @@ jobs:
         with:
           path: .
           key: ${{ runner.os }}-build-${{ github.run_number }}
-  run-tests:
+  test-scenario-execution:
     needs: [build-and-cache]
     runs-on: intellabs-01
     container:
@@ -56,7 +56,6 @@ jobs:
           export ROS_DOMAIN_ID=2
           colcon test --packages-select \
           scenario_execution \
-          scenario_execution_ros \
           scenario_execution_gazebo \
           scenario_coverage \
           --event-handlers console_direct+ \
@@ -64,16 +63,46 @@ jobs:
           --pytest-args \
           --junit-xml=TEST.xml
           # Add "--capture=no" to see output of tests
-      - name: Publish Test Results
-        uses: EnricoMi/publish-unit-test-result-action@f355d34d53ad4e7f506f699478db2dd71da9de5f #v2.15.1
+      - name: Upload result
+        uses: actions/upload-artifact@ef09cdac3e2d3e60d8ccadda691f4f1cec5035cb
         if: always()
         with:
-          check_run: false
-          files: |
-            scenario_execution//TEST.xml
-            scenario_execution_ros//TEST.xml
-            scenario_execution_gazebo//TEST.xml
-            scenario_coverage//TEST.xml      
+          name: test-scenario-execution
+          path: ./**/TEST.xml
+  test-scenario-execution-ros:
+    needs: [build-and-cache]
+    runs-on: intellabs-01
+    container:
+      image: ghcr.io/intellabs/scenario-execution:humble
+      credentials:
+        username: ${{ github.repository_owner }}
+        password: ${{ secrets.GITHUB_TOKEN }}
+    steps:
+      - name: Restore cache
+        uses: actions/cache/restore@0c45773b623bea8c8e75f6c82b208c3cf94ea4f9 # v4.0.2
+        with:
+          key: ${{ runner.os }}-build-${{ github.run_number }}
+          path: .
+      - name: Test
+        shell: bash
+        run: |
+          source /opt/ros/humble/setup.bash
+          source install/setup.bash
+          export -n CYCLONEDDS_URI
+          export ROS_DOMAIN_ID=2
+          colcon test --packages-select \
+          scenario_execution_ros \
+          --event-handlers console_direct+ \
+          --return-code-on-test-failure \
+          --pytest-args \
+          --junit-xml=TEST.xml
+          # Add "--capture=no" to see output of tests
+      - name: Upload result
+        uses: actions/upload-artifact@ef09cdac3e2d3e60d8ccadda691f4f1cec5035cb
+        if: always()
+        with:
+          name: test-scenario-execution-ros
+          path: ./**/TEST.xml
   scenario-files-validation:
     needs: [build-and-cache]
     runs-on: intellabs-01
@@ -279,7 +308,7 @@ jobs:
           name: test-example-multirobot-result
           path: test_example_multirobot/test.xml
   publish-scenario-results:
-    needs: [run-tests, scenario-files-validation, test-example-scenario, test-example-library, test-example-variation, test-example-nav2, test-example-simulation, test-example-multirobot]
+    needs: [test-scenario-execution, test-scenario-execution-ros, scenario-files-validation, test-example-scenario, test-example-library, test-example-variation, test-example-nav2, test-example-simulation, test-example-multirobot]
     runs-on: intellabs-01
     if: ${{ always() }}
     steps:
@@ -295,6 +324,9 @@ jobs:
           action_fail: true
           comment_mode: always
           files: |
+            downloaded-artifacts/test-scenario-execution/scenario_execution/TEST.xml
+            downloaded-artifacts/test-scenario-execution-ros/scenario_execution_ros/TEST.xml
+            downloaded-artifacts/test-scenario-execution/scenario_coverage/TEST.xml
             downloaded-artifacts/test-example-scenario-result/test.xml
             downloaded-artifacts/test-example-library-result/test.xml
             downloaded-artifacts/test-example-variation-result/test.xml