diff --git a/rcl/test/CMakeLists.txt b/rcl/test/CMakeLists.txt
index 7c774db..98fb856 100644
--- a/rcl/test/CMakeLists.txt
+++ b/rcl/test/CMakeLists.txt
@@ -60,21 +60,23 @@ function(test_target_function)
     AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
+  set(SKIP_TEST "")
   # TODO(wjwwood): remove this when the graph API works properly for FastRTPS
   if(
     rmw_implementation STREQUAL "rmw_connext_dynamic_cpp" OR
     rmw_implementation STREQUAL "rmw_fastrtps_cpp"
   )
     message(STATUS "Skipping test_graph${target_suffix} test.")
-  else()
-    rcl_add_custom_gtest(test_graph${target_suffix}
-      SRCS rcl/test_graph.cpp
-      ENV ${extra_test_env}
-      APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-      LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
-      AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces" "std_msgs"
-    )
+    set(SKIP_TEST "SKIP_TEST")
   endif()
+  rcl_add_custom_gtest(test_graph${target_suffix}
+    SRCS rcl/test_graph.cpp
+    ENV ${extra_test_env}
+    APPEND_LIBRARY_DIRS ${extra_lib_dirs}
+    LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
+    AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces" "std_msgs"
+    ${SKIP_TEST}
+  )
 
   rcl_add_custom_gtest(test_rcl${target_suffix}
     SRCS rcl/test_rcl.cpp
diff --git a/rcl/test/rcl_add_custom_gtest.cmake b/rcl/test/rcl_add_custom_gtest.cmake
index f460a3f..78c8c95 100644
--- a/rcl/test/rcl_add_custom_gtest.cmake
+++ b/rcl/test/rcl_add_custom_gtest.cmake
@@ -51,7 +51,7 @@ include(CMakeParseArguments)
 #
 macro(rcl_add_custom_gtest target)
   cmake_parse_arguments(_ARG
-    "TRACE"
+    "SKIP_TEST;TRACE"
     ""
     "SRCS;ENV;APPEND_ENV;APPEND_LIBRARY_DIRS;INCLUDE_DIRS;LIBRARIES;AMENT_DEPENDENCIES"
     ${ARGN})
@@ -67,9 +67,14 @@ macro(rcl_add_custom_gtest target)
   if(_ARG_APPEND_LIBRARY_DIRS)
     set(_ARG_APPEND_LIBRARY_DIRS "APPEND_LIBRARY_DIRS" ${_ARG_APPEND_LIBRARY_DIRS})
   endif()
+  if(_ARG_SKIP_TEST)
+    set(_ARG_SKIP_TEST "SKIP_TEST")
+  else()
+    set(_ARG_SKIP_TEST "")
+  endif()
 
   # Pass args along to ament_add_gtest().
-  ament_add_gtest(${target} ${_ARG_SRCS} ${_ARG_ENV} ${_ARG_APPEND_ENV} ${_ARG_APPEND_LIBRARY_DIRS})
+  ament_add_gtest(${target} ${_ARG_SRCS} ${_ARG_ENV} ${_ARG_APPEND_ENV} ${_ARG_APPEND_LIBRARY_DIRS} ${_ARG_SKIP_TEST})
   # Check if the target was actually created.
   if(TARGET ${target})
     if(_ARG_TRACE)