diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1f837123..cd753685 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -182,13 +182,15 @@ macro(targets)
   file(GENERATE
     OUTPUT test_dynamic_bridge${target_suffix}_$<CONFIG>.py
     INPUT test_dynamic_bridge${target_suffix}.py.genexp)
-  ament_add_nose_test(test_dynamic_bridge${target_suffix}
+  ament_add_pytest_test(test_dynamic_bridge${target_suffix}
     "${CMAKE_CURRENT_BINARY_DIR}/test_dynamic_bridge${target_suffix}_$<CONFIG>.py"
     ENV RMW_IMPLEMENTAION=${rmw_implementaion}
     TIMEOUT 60)
 endmacro()
 
 if(TEST_ROS1_BRIDGE)
+  find_package(ament_cmake_pytest REQUIRED)
+
   add_executable(test_ros1_client "test/test_ros1_client.cpp")
   ament_target_dependencies(test_ros1_client "ros1_roscpp")
   add_executable(test_ros1_server "test/test_ros1_server.cpp")
diff --git a/package.xml b/package.xml
index 5d16ef91..9bd1ac31 100644
--- a/package.xml
+++ b/package.xml
@@ -24,7 +24,7 @@
   <exec_depend>rcutils</exec_depend>
   <exec_depend>std_msgs</exec_depend>
 
-  <test_depend>ament_cmake_nose</test_depend>
+  <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>demo_nodes_cpp</test_depend>