diff --git a/.travis.rosinstall.noetic b/.travis.rosinstall.noetic
index 0994714a7..663838050 100644
--- a/.travis.rosinstall.noetic
+++ b/.travis.rosinstall.noetic
@@ -2,3 +2,7 @@
 - git:
     local-name: catkin_virtualenv
     uri: https://github.com/locusrobotics/catkin_virtualenv
+# waiting for depth_image_publisher to be released in apt server
+- git:
+    local-name: jsk_recognition 
+    uri: https://github.com/jsk-ros-pkg/jsk_recognition
diff --git a/zdepth_image_transport/CMakeLists.txt b/zdepth_image_transport/CMakeLists.txt
index 50c141a55..3a1df151a 100644
--- a/zdepth_image_transport/CMakeLists.txt
+++ b/zdepth_image_transport/CMakeLists.txt
@@ -73,3 +73,15 @@ install(DIRECTORY include/${PROJECT_NAME}/
 install(FILES zdepth_plugins.xml
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   )
+
+if(CATKIN_ENABLE_TESTING)
+  if("$ENV{ROS_DISTRO}" STRGREATER "melodic")
+    find_package(roslaunch REQUIRED)
+    find_package(roslint REQUIRED)
+    find_package(rostest REQUIRED)
+    add_rostest(test/zdepth_image_transport_16uc1.test)
+    add_rostest(test/zdepth_image_transport_32fc1.test)
+    roslaunch_add_file_check(test/zdepth_image_transport_16uc1.test)
+    roslaunch_add_file_check(test/zdepth_image_transport_32fc1.test)
+  endif()
+endif()
diff --git a/zdepth_image_transport/package.xml b/zdepth_image_transport/package.xml
index 62148adfe..8b7fb5dae 100644
--- a/zdepth_image_transport/package.xml
+++ b/zdepth_image_transport/package.xml
@@ -26,18 +26,17 @@
   <exec_depend>std_msgs</exec_depend>
   <exec_depend>zdepth</exec_depend>
 
-  <build_depend>pluginlib</build_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_depend>zdepth</build_depend>
-
   <build_export_depend>std_msgs</build_export_depend>
   <build_export_depend>sensor_msgs</build_export_depend>
   <build_export_depend>roscpp</build_export_depend>
   <build_export_depend>pluginlib</build_export_depend>
   <build_export_depend>image_transport</build_export_depend>
 
+  <test_depend>depth_image_publisher</test_depend>
+  <test_depend>roslaunch</test_depend>
+  <test_depend>roslint</test_depend>
+  <test_depend>rostest</test_depend>
+
   <export>
     <image_transport plugin="${prefix}/zdepth_plugins.xml"/>
    </export>
diff --git a/zdepth_image_transport/test/zdepth_image_transport_16uc1.test b/zdepth_image_transport/test/zdepth_image_transport_16uc1.test
new file mode 100644
index 000000000..ac5bd8536
--- /dev/null
+++ b/zdepth_image_transport/test/zdepth_image_transport_16uc1.test
@@ -0,0 +1,15 @@
+<launch>
+  <node name="depth_image_publisher" pkg="depth_image_publisher" type="depth_image_publisher"
+        args="$(find depth_image_publisher)/sample/sample_16uc1.png">
+    <param name="encoding" value="16UC1" />
+  </node>
+
+  <test name="zdepth_hztest_16uc1" test-name="zdepth_hztest_test_16uc1"
+        pkg="rostest" type="hztest">
+    <param name="topic" value="depth_image_publisher/image_raw/zdepth" />
+    <param name="hz" value="10.0" />
+    <param name="hzerror" value="1.0" />
+    <param name="test_duration" value="1.0" />
+  </test>
+
+</launch>
diff --git a/zdepth_image_transport/test/zdepth_image_transport_32fc1.test b/zdepth_image_transport/test/zdepth_image_transport_32fc1.test
new file mode 100644
index 000000000..f699873f6
--- /dev/null
+++ b/zdepth_image_transport/test/zdepth_image_transport_32fc1.test
@@ -0,0 +1,15 @@
+<launch>
+  <node name="depth_image_publisher" pkg="depth_image_publisher" type="depth_image_publisher"
+        args="$(find depth_image_publisher)/sample/sample_16uc1.png">
+    <param name="encoding" value="32FC1" />
+  </node>
+
+  <test name="zdepth_hztest_32fc1" test-name="zdepth_hztest_test_32fc1"
+        pkg="rostest" type="hztest">
+    <param name="topic" value="depth_image_publisher/image_raw/zdepth" />
+    <param name="hz" value="10.0" />
+    <param name="hzerror" value="1.0" />
+    <param name="test_duration" value="1.0" />
+  </test>
+
+</launch>