diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index 7dd4881f..07a8d4ec 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -4,6 +4,8 @@ on:
   push:
     branches: [ rolling ]
   workflow_dispatch:
+env:
+  RMW_IMPLEMENTATION: rmw_zenoh_cpp
 defaults:
   run:
     shell: bash
@@ -24,9 +26,20 @@ jobs:
     - name: Setup Rust
       uses: dtolnay/rust-toolchain@1.75.0
     - uses: actions/checkout@v2
+    - name: Clone system_tests
+      run: |
+        git clone https://github.com/ros2/system_tests.git
     - name: rosdep
       run: |
         rosdep update
         rosdep install --from-paths . -yir
-    - name: build
-      run: /ros_entrypoint.sh colcon build
+    - name: build_rmw
+      run: /ros_entrypoint.sh colcon build --packages-up-to rmw_zenoh_cpp
+    - name: build_tests
+      run: |
+        source install/setup.bash
+        /ros_entrypoint.sh colcon build --packages-up-to test_rclcpp
+    - name: test
+      run: |
+        source install/setup.bash
+        /ros_entrypoint.sh launch_test rmw_zenoh_cpp/test/test_rclcpp_launch.py
diff --git a/rmw_zenoh_cpp/test/test_rclcpp_launch.py b/rmw_zenoh_cpp/test/test_rclcpp_launch.py
new file mode 100644
index 00000000..6fa89645
--- /dev/null
+++ b/rmw_zenoh_cpp/test/test_rclcpp_launch.py
@@ -0,0 +1,87 @@
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# 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 signal
+import subprocess
+import time
+import unittest
+
+import launch
+import launch.actions
+import launch_ros.actions
+import launch_testing.actions
+import launch_testing.markers
+import pytest
+
+
+proc_env = os.environ.copy()
+proc_env['PYTHONUNBUFFERED'] = '1'
+proc_env['RMW_IMPLEMENTATION'] = 'rmw_zenoh_cpp'
+
+@pytest.mark.launch_test
+@launch_testing.markers.keep_alive
+def generate_test_description():
+
+
+    dut_process = launch.actions.ExecuteProcess(
+        cmd=[
+            'colcon',
+            'test',
+            '--packages-select',
+            'test_rclcpp',
+            '--retest-until-pass',
+            '2',
+        ],
+        shell=True,
+        env=proc_env,
+    )
+
+    return launch.LaunchDescription([
+        # rmw_zenohd,
+        dut_process,
+        # In tests where all of the procs under tests terminate themselves, it's necessary
+        # to add a dummy process not under test to keep the launch alive. launch_test
+        # provides a simple launch action that does this:
+        launch_testing.util.KeepAliveProc(),
+        launch_testing.actions.ReadyToTest()
+    ]) , {'dut_process': dut_process}
+
+class TestTerminatingProcessStops(unittest.TestCase):
+
+    def test_proc_terminates(self, proc_info, dut_process):
+        cmd=[
+            'ros2',
+            'run ',
+            'rmw_zenoh_cpp',
+            'rmw_zenohd',
+        ]
+        process_group = subprocess.Popen(
+            cmd, stdout=subprocess.PIPE,
+            shell=True, env=proc_env, preexec_fn=os.setsid)
+        print(f'Started rmw_zenohd with pid [{process_group.pid}]')
+
+        proc_info.assertWaitForShutdown(process=dut_process, timeout=400)
+
+        os.killpg(os.getpgid(process_group.pid), signal.SIGTERM)
+
+
+# These tests are run after the processes in generate_test_description() have shutdown.
+@launch_testing.post_shutdown_test()
+class TestShutdown(unittest.TestCase):
+
+    def test_exit_codes(self, proc_info):
+        """Check if the processes exited normally."""
+        launch_testing.asserts.assertExitCodes(proc_info)