diff --git a/rcl/package.xml b/rcl/package.xml
index 0f7c44a..ccdadbe 100644
--- a/rcl/package.xml
+++ b/rcl/package.xml
@@ -28,7 +28,7 @@
rmw_implementation
ament_cmake_gtest
- ament_cmake_nose
+ ament_cmake_pytest
ament_lint_auto
ament_lint_common
rmw
diff --git a/rcl/test/CMakeLists.txt b/rcl/test/CMakeLists.txt
index 43e4c6b..59c88d7 100644
--- a/rcl/test/CMakeLists.txt
+++ b/rcl/test/CMakeLists.txt
@@ -1,5 +1,5 @@
find_package(ament_cmake_gtest REQUIRED)
-find_package(ament_cmake_nose REQUIRED)
+find_package(ament_cmake_pytest REQUIRED)
find_package(example_interfaces REQUIRED)
find_package(std_msgs REQUIRED)
diff --git a/rcl/test/cmake/rcl_add_custom_launch_test.cmake b/rcl/test/cmake/rcl_add_custom_launch_test.cmake
index fcade6b..b794967 100644
--- a/rcl/test/cmake/rcl_add_custom_launch_test.cmake
+++ b/rcl/test/cmake/rcl_add_custom_launch_test.cmake
@@ -32,6 +32,6 @@ macro(rcl_add_custom_launch_test test_name executable1 executable2)
OUTPUT "test/${test_name}${target_suffix}_$.py"
INPUT "${CMAKE_CURRENT_BINARY_DIR}/${test_name}${target_suffix}.py.configure"
)
- ament_add_nose_test(${test_name}${target_suffix} "${CMAKE_CURRENT_BINARY_DIR}/${test_name}${target_suffix}_$.py" ${ARGN})
+ ament_add_pytest_test(${test_name}${target_suffix} "${CMAKE_CURRENT_BINARY_DIR}/${test_name}${target_suffix}_$.py" ${ARGN})
set_tests_properties(${test_name}${target_suffix} PROPERTIES DEPENDS "${executable1}${target_suffix} ${executable2}${target_suffix}")
endmacro()