diff --git a/rclcpp/test/benchmark/CMakeLists.txt b/rclcpp/test/benchmark/CMakeLists.txt
index 91c28705b2..5d0a3f5afb 100644
--- a/rclcpp/test/benchmark/CMakeLists.txt
+++ b/rclcpp/test/benchmark/CMakeLists.txt
@@ -1,11 +1,21 @@
-# Give cppcheck hints about macro definitions coming from outside this package
-get_target_property(
-  ament_cmake_cppcheck_ADDITIONAL_INCLUDE_DIRS
-  performance_test_fixture::performance_test_fixture
-  INTERFACE_INCLUDE_DIRECTORIES)
+find_package(performance_test_fixture REQUIRED)
 
+#
+# Add a rmw-specific performance benchmark test from performance_test_fixture
+#
+# :param NAME: the target name which will also be used as the test name
+# :type NAME: string
+# :param SOURCE: the benchmark test target's source file
+# :type SOURCE: string
+# :param AMENT_DEPENDS: the ament dependincies for the benchmark test target
+# :type list of strings
+# :param LIBRARIES: the additional libraries the target needs to be linked
+#    against
+# :type list of strings
+# :param TEST_OPTIONS: arguments to pass directly to add_performance_test
+# :type list of strings
 function(add_rclcpp_benchmark NAME SOURCE)
-  set(multiValueArgs AMENT_DEPENDS LIBRARIES)
+  set(multiValueArgs AMENT_DEPENDS LIBRARIES TEST_OPTIONS)
   cmake_parse_arguments(
     RCLCPP_BENCHMARK
     ""
@@ -24,20 +34,37 @@ function(add_rclcpp_benchmark NAME SOURCE)
   set(rmw_implementation_env_var RMW_IMPLEMENTATION=${rmw_implementation})
 
   set(full_benchmark_name ${NAME}${target_suffix})
-  add_performance_test(${full_benchmark_name} ${SOURCE} ENV ${rmw_implementation_env_var})
+  add_performance_test(
+    ${full_benchmark_name}
+    ${SOURCE}
+    ${RCLCPP_BENCHMARK_TEST_OPTIONS}
+    ENV ${rmw_implementation_env_var})
   if(TARGET ${full_benchmark_name})
     if(RCLCPP_BENCHMARK_AMENT_DEPENDS)
-      ament_target_dependencies(${full_benchmark_name} ${RCLCPP_BENCHMARK_AMENT_DEPENDS})
+      ament_target_dependencies(
+        ${full_benchmark_name}
+        ${RCLCPP_BENCHMARK_AMENT_DEPENDS})
     endif()
-    target_link_libraries(${full_benchmark_name} ${PROJECT_NAME} ${RCLCPP_BENCHMARK_LIBRARIES})
+    target_link_libraries(
+      ${full_benchmark_name}
+      ${PROJECT_NAME}
+      ${RCLCPP_BENCHMARK_LIBRARIES})
   endif()
 endfunction()
 
 # Add new benchmarks inside this macro
 macro(rclcpp_benchmarks)
-  add_rclcpp_benchmark(benchmark_executor benchmark_executor.cpp AMENT_DEPENDS test_msgs)
   add_rclcpp_benchmark(benchmark_init_shutdown benchmark_init_shutdown.cpp)
-  add_rclcpp_benchmark(benchmark_node benchmark_node.cpp)
+
+  set(SKIP_TEST "")
+  if(${rmw_implementation} MATCHES "(.*)connext(.*)")
+    set(SKIP_TEST "SKIP_TEST")
+  endif()
+  add_rclcpp_benchmark(
+    benchmark_node
+    benchmark_node.cpp
+    TEST_OPTIONS ${SKIP_TEST})
+  add_rclcpp_benchmark(benchmark_executor benchmark_executor.cpp AMENT_DEPENDS test_msgs)
 endmacro()
 
 call_for_each_rmw_implementation(rclcpp_benchmarks)
diff --git a/rclcpp/test/benchmark/benchmark_init_shutdown.cpp b/rclcpp/test/benchmark/benchmark_init_shutdown.cpp
index e4b0f0bc87..6c3ae8b72e 100644
--- a/rclcpp/test/benchmark/benchmark_init_shutdown.cpp
+++ b/rclcpp/test/benchmark/benchmark_init_shutdown.cpp
@@ -20,6 +20,11 @@ using performance_test_fixture::PerformanceTest;
 
 BENCHMARK_F(PerformanceTest, rclcpp_init)(benchmark::State & state)
 {
+  // Warmup and prime caches
+  rclcpp::init(0, nullptr);
+  rclcpp::shutdown();
+
+  reset_heap_counters();
   for (auto _ : state) {
     rclcpp::init(0, nullptr);
 
@@ -32,6 +37,11 @@ BENCHMARK_F(PerformanceTest, rclcpp_init)(benchmark::State & state)
 
 BENCHMARK_F(PerformanceTest, rclcpp_shutdown)(benchmark::State & state)
 {
+  // Warmup and prime caches
+  rclcpp::init(0, nullptr);
+  rclcpp::shutdown();
+
+  reset_heap_counters();
   for (auto _ : state) {
     state.PauseTiming();
     rclcpp::init(0, nullptr);
diff --git a/rclcpp/test/benchmark/benchmark_node.cpp b/rclcpp/test/benchmark/benchmark_node.cpp
index c3f173c082..945b8f1122 100644
--- a/rclcpp/test/benchmark/benchmark_node.cpp
+++ b/rclcpp/test/benchmark/benchmark_node.cpp
@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include <memory>
+#include <string>
 
 #include "performance_test_fixture/performance_test_fixture.hpp"
 #include "rclcpp/rclcpp.hpp"
@@ -22,13 +23,13 @@ using performance_test_fixture::PerformanceTest;
 class NodePerformanceTest : public PerformanceTest
 {
 public:
-  void SetUp(::benchmark::State & state)
+  void SetUp(benchmark::State & state)
   {
     rclcpp::init(0, nullptr);
     performance_test_fixture::PerformanceTest::SetUp(state);
   }
 
-  void TearDown(::benchmark::State & state)
+  void TearDown(benchmark::State & state)
   {
     performance_test_fixture::PerformanceTest::TearDown(state);
     rclcpp::shutdown();
@@ -37,6 +38,11 @@ class NodePerformanceTest : public PerformanceTest
 
 BENCHMARK_F(NodePerformanceTest, create_node)(benchmark::State & state)
 {
+  // Warmup and prime caches
+  auto outer_node = std::make_unique<rclcpp::Node>("node");
+  outer_node.reset();
+
+  reset_heap_counters();
   for (auto _ : state) {
     // Using pointer to separate construction and destruction in timing
     auto node = std::make_unique<rclcpp::Node>("node");
@@ -52,6 +58,11 @@ BENCHMARK_F(NodePerformanceTest, create_node)(benchmark::State & state)
 
 BENCHMARK_F(NodePerformanceTest, destroy_node)(benchmark::State & state)
 {
+  // Warmup and prime caches
+  auto outer_node = std::make_unique<rclcpp::Node>("node");
+  outer_node.reset();
+
+  reset_heap_counters();
   for (auto _ : state) {
     // Using pointer to separate construction and destruction in timing
     state.PauseTiming();
diff --git a/rclcpp/test/rclcpp/executors/test_executors.cpp b/rclcpp/test/rclcpp/executors/test_executors.cpp
index fa85dc94ba..7575f7cb3a 100644
--- a/rclcpp/test/rclcpp/executors/test_executors.cpp
+++ b/rclcpp/test/rclcpp/executors/test_executors.cpp
@@ -115,9 +115,9 @@ class ExecutorTypeNames
   }
 };
 
-// TYPED_TEST_CASE is deprecated as of gtest 1.9, use TYPED_TEST_SUITE when gtest dependency
+// TYPED_TEST_SUITE is deprecated as of gtest 1.9, use TYPED_TEST_SUITE when gtest dependency
 // is updated.
-TYPED_TEST_CASE(TestExecutors, ExecutorTypes, ExecutorTypeNames);
+TYPED_TEST_SUITE(TestExecutors, ExecutorTypes, ExecutorTypeNames);
 
 // StaticSingleThreadedExecutor is not included in these tests for now, due to:
 // https://github.com/ros2/rclcpp/issues/1219
@@ -125,7 +125,7 @@ using StandardExecutors =
   ::testing::Types<
   rclcpp::executors::SingleThreadedExecutor,
   rclcpp::executors::MultiThreadedExecutor>;
-TYPED_TEST_CASE(TestExecutorsStable, StandardExecutors, ExecutorTypeNames);
+TYPED_TEST_SUITE(TestExecutorsStable, StandardExecutors, ExecutorTypeNames);
 
 // Make sure that executors detach from nodes when destructing
 TYPED_TEST(TestExecutors, detachOnDestruction) {
diff --git a/rclcpp/test/rclcpp/test_add_callback_groups_to_executor.cpp b/rclcpp/test/rclcpp/test_add_callback_groups_to_executor.cpp
index d8f4076f56..5c63fd5962 100644
--- a/rclcpp/test/rclcpp/test_add_callback_groups_to_executor.cpp
+++ b/rclcpp/test/rclcpp/test_add_callback_groups_to_executor.cpp
@@ -79,7 +79,7 @@ class ExecutorTypeNames
   }
 };
 
-TYPED_TEST_CASE(TestAddCallbackGroupsToExecutor, ExecutorTypes, ExecutorTypeNames);
+TYPED_TEST_SUITE(TestAddCallbackGroupsToExecutor, ExecutorTypes, ExecutorTypeNames);
 
 /*
  * Test adding callback groups.
diff --git a/rclcpp/test/rclcpp/test_publisher.cpp b/rclcpp/test/rclcpp/test_publisher.cpp
index 26aeb6975c..15390bd274 100644
--- a/rclcpp/test/rclcpp/test_publisher.cpp
+++ b/rclcpp/test/rclcpp/test_publisher.cpp
@@ -184,7 +184,7 @@ static std::vector<TestParameters> invalid_qos_profiles()
   return parameters;
 }
 
-INSTANTIATE_TEST_CASE_P(
+INSTANTIATE_TEST_SUITE_P(
   TestPublisherThrows, TestPublisherInvalidIntraprocessQos,
   ::testing::ValuesIn(invalid_qos_profiles()),
   ::testing::PrintToStringParamName());
diff --git a/rclcpp/test/rclcpp/test_publisher_subscription_count_api.cpp b/rclcpp/test/rclcpp/test_publisher_subscription_count_api.cpp
index 0a59ebe100..9e009acb95 100644
--- a/rclcpp/test/rclcpp/test_publisher_subscription_count_api.cpp
+++ b/rclcpp/test/rclcpp/test_publisher_subscription_count_api.cpp
@@ -192,7 +192,7 @@ using AllTestDescriptions = ::testing::Types<
   TwoSubscriptionsInTwoContextsWithIntraprocessComm,
   TwoSubscriptionsInTwoContextsWithoutIntraprocessComm
 >;
-TYPED_TEST_CASE(TestPublisherSubscriptionCount, AllTestDescriptions, PrintTestDescription);
+TYPED_TEST_SUITE(TestPublisherSubscriptionCount, AllTestDescriptions, PrintTestDescription);
 
 
 using test_msgs::msg::Empty;
diff --git a/rclcpp/test/rclcpp/test_subscription.cpp b/rclcpp/test/rclcpp/test_subscription.cpp
index ef43fc051c..2788b97bea 100644
--- a/rclcpp/test/rclcpp/test_subscription.cpp
+++ b/rclcpp/test/rclcpp/test_subscription.cpp
@@ -506,7 +506,7 @@ static std::vector<TestParameters> invalid_qos_profiles()
   return parameters;
 }
 
-INSTANTIATE_TEST_CASE_P(
+INSTANTIATE_TEST_SUITE_P(
   TestSubscriptionThrows, TestSubscriptionInvalidIntraprocessQos,
   ::testing::ValuesIn(invalid_qos_profiles()),
   ::testing::PrintToStringParamName());
diff --git a/rclcpp/test/rclcpp/test_subscription_publisher_count_api.cpp b/rclcpp/test/rclcpp/test_subscription_publisher_count_api.cpp
index 8da31f3060..1e71e28c5e 100644
--- a/rclcpp/test/rclcpp/test_subscription_publisher_count_api.cpp
+++ b/rclcpp/test/rclcpp/test_subscription_publisher_count_api.cpp
@@ -129,7 +129,7 @@ struct TwoContextsPerTest
 };
 
 using AllTestDescriptions = ::testing::Types<OneContextPerTest, TwoContextsPerTest>;
-TYPED_TEST_CASE(TestSubscriptionPublisherCount, AllTestDescriptions, PrintTestDescription);
+TYPED_TEST_SUITE(TestSubscriptionPublisherCount, AllTestDescriptions, PrintTestDescription);
 
 
 using test_msgs::msg::Empty;