diff --git a/rosbag2_tests/CMakeLists.txt b/rosbag2_tests/CMakeLists.txt
index 12ac6d7c48..1de1010d91 100644
--- a/rosbag2_tests/CMakeLists.txt
+++ b/rosbag2_tests/CMakeLists.txt
@@ -25,6 +25,7 @@ if(BUILD_TESTING)
   skip_ros1_tests_if_necessary()
 
   find_package(ament_cmake_gmock REQUIRED)
+  find_package(ament_cmake_ros REQUIRED)
   find_package(ament_lint_auto REQUIRED)
   find_package(rclcpp REQUIRED)
   find_package(std_msgs REQUIRED)
@@ -36,7 +37,7 @@ if(BUILD_TESTING)
 
   ament_lint_auto_find_test_dependencies()
 
-  ament_add_gmock(test_rosbag2_record_end_to_end
+  ament_add_ros_isolated_gmock(test_rosbag2_record_end_to_end
     test/rosbag2_tests/test_rosbag2_record_end_to_end.cpp
     WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
   if(TARGET test_rosbag2_record_end_to_end)
diff --git a/rosbag2_tests/package.xml b/rosbag2_tests/package.xml
index 7fa03fc220..55a34b230f 100644
--- a/rosbag2_tests/package.xml
+++ b/rosbag2_tests/package.xml
@@ -12,6 +12,7 @@
   <depend>ament_index_cpp</depend>
 
   <test_depend>ament_cmake_gmock</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>rosbag2_storage_default_plugins</test_depend>
diff --git a/rosbag2_transport/CMakeLists.txt b/rosbag2_transport/CMakeLists.txt
index f5d2c668d5..70ff160a72 100644
--- a/rosbag2_transport/CMakeLists.txt
+++ b/rosbag2_transport/CMakeLists.txt
@@ -77,6 +77,7 @@ ament_export_dependencies(rosbag2)
 
 if(BUILD_TESTING)
   find_package(ament_cmake_gmock REQUIRED)
+  find_package(ament_cmake_ros REQUIRED)
   find_package(ament_lint_auto REQUIRED)
   find_package(test_msgs REQUIRED)
   find_package(rosbag2_test_common REQUIRED)
@@ -100,7 +101,7 @@ if(BUILD_TESTING)
     ament_target_dependencies(test_record test_msgs rosbag2_test_common)
   endif()
 
-  ament_add_gmock(test_record_all
+  ament_add_ros_isolated_gmock(test_record_all
     test/rosbag2_transport/test_record_all.cpp
     WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
   if(TARGET test_record_all)
@@ -108,7 +109,7 @@ if(BUILD_TESTING)
     ament_target_dependencies(test_record_all test_msgs rosbag2_test_common)
   endif()
 
-  ament_add_gmock(test_record_all_no_discovery
+  ament_add_ros_isolated_gmock(test_record_all_no_discovery
     test/rosbag2_transport/test_record_all_no_discovery.cpp
     WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
   if(TARGET test_record_all_no_discovery)
diff --git a/rosbag2_transport/package.xml b/rosbag2_transport/package.xml
index 0d2fef578e..e134744a82 100644
--- a/rosbag2_transport/package.xml
+++ b/rosbag2_transport/package.xml
@@ -15,6 +15,7 @@
   <depend>shared_queues_vendor</depend>
 
   <test_depend>ament_cmake_gmock</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>test_msgs</test_depend>