diff --git a/control/trajectory_follower_nodes/CMakeLists.txt b/control/trajectory_follower_nodes/CMakeLists.txt
index 32e4c5d42523b..4ec4da305ca35 100644
--- a/control/trajectory_follower_nodes/CMakeLists.txt
+++ b/control/trajectory_follower_nodes/CMakeLists.txt
@@ -68,7 +68,7 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
   # Unit tests
   set(TRAJECTORY_FOLLOWER_NODES_TEST test_trajectory_follower_nodes)
-  ament_add_gtest(${TRAJECTORY_FOLLOWER_NODES_TEST}
+  ament_add_ros_isolated_gtest(${TRAJECTORY_FOLLOWER_NODES_TEST}
     test/trajectory_follower_test_utils.hpp
     test/test_latlon_muxer_node.cpp
     test/test_lateral_controller_node.cpp
diff --git a/control/trajectory_follower_nodes/package.xml b/control/trajectory_follower_nodes/package.xml
index 6f22e6bddff2f..215ebaea5187b 100644
--- a/control/trajectory_follower_nodes/package.xml
+++ b/control/trajectory_follower_nodes/package.xml
@@ -21,7 +21,7 @@
 
   <exec_depend>ros2launch</exec_depend>
 
-  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_index_python</test_depend>
   <!-- <test_depend>ament_lint_auto</test_depend> -->
   <!-- <test_depend>ament_lint_common</test_depend> -->