diff --git a/composition/CMakeLists.txt b/composition/CMakeLists.txt
index cd985ef7e..590bcad50 100644
--- a/composition/CMakeLists.txt
+++ b/composition/CMakeLists.txt
@@ -170,6 +170,9 @@ if(BUILD_TESTING)
       "test_dlopen_composition"
       "test_linktime_composition"
       "test_manual_composition"
+      "test_api_pubsub_composition"
+      "test_api_srv_composition_client_first"
+      "test_api_srv_composition"
     )
     foreach(test_name IN LISTS test_names)
       configure_file(
diff --git a/composition/test/test_api_pubsub_composition.py.in b/composition/test/test_api_pubsub_composition.py.in
index de1c30f27..3f0b14634 100644
--- a/composition/test/test_api_pubsub_composition.py.in
+++ b/composition/test/test_api_pubsub_composition.py.in
@@ -26,7 +26,7 @@ import launch_testing_ros
 def generate_test_description():
     launch_description = LaunchDescription()
     process_under_test = ExecuteProcess(
-        cmd=['@API_COMPOSITION_EXECUTABLE@'],
+        cmd=['ros2', 'run', 'rclcpp_components', 'component_container'],
         name='test_api_composition',
         output='screen'
     )
@@ -34,7 +34,7 @@ def generate_test_description():
     launch_description.add_action(
         ExecuteProcess(
             cmd=[
-                '@API_COMPOSITION_CLI_EXECUTABLE@',
+                'ros2', 'component', 'load', '/ComponentManager',
                 'composition', 'composition::Talker'
             ],
             name='load_talker_component'
@@ -43,7 +43,7 @@ def generate_test_description():
     launch_description.add_action(
         ExecuteProcess(
             cmd=[
-                '@API_COMPOSITION_CLI_EXECUTABLE@',
+                'ros2', 'component', 'load', '/ComponentManager',
                 'composition', 'composition::Listener'
             ],
             name='load_listener_component'
diff --git a/composition/test/test_api_srv_composition.py.in b/composition/test/test_api_srv_composition.py.in
index 423de906a..24d0ac1fe 100644
--- a/composition/test/test_api_srv_composition.py.in
+++ b/composition/test/test_api_srv_composition.py.in
@@ -26,7 +26,7 @@ import launch_testing_ros
 def generate_test_description():
     launch_description = LaunchDescription()
     process_under_test = ExecuteProcess(
-        cmd=['@API_COMPOSITION_EXECUTABLE@'],
+        cmd=['ros2', 'run', 'rclcpp_components', 'component_container'],
         name='test_api_composition',
         output='screen'
     )
@@ -34,7 +34,7 @@ def generate_test_description():
     launch_description.add_action(
         ExecuteProcess(
             cmd=[
-                '@API_COMPOSITION_CLI_EXECUTABLE@',
+                'ros2', 'component', 'load', '/ComponentManager',
                 'composition', 'composition::Server'
             ],
             name='load_server_component'
@@ -43,7 +43,7 @@ def generate_test_description():
     launch_description.add_action(
         ExecuteProcess(
             cmd=[
-                '@API_COMPOSITION_CLI_EXECUTABLE@',
+                'ros2', 'component', 'load', '/ComponentManager',
                 'composition', 'composition::Client'
             ],
             name='load_client_component'
diff --git a/composition/test/test_api_srv_composition_client_first.py.in b/composition/test/test_api_srv_composition_client_first.py.in
index fe927661d..216262ae6 100644
--- a/composition/test/test_api_srv_composition_client_first.py.in
+++ b/composition/test/test_api_srv_composition_client_first.py.in
@@ -16,6 +16,7 @@ import unittest
 
 from launch import LaunchDescription
 from launch.actions import ExecuteProcess
+from launch.actions import TimerAction
 
 import launch_testing
 import launch_testing.actions
@@ -26,7 +27,7 @@ import launch_testing_ros
 def generate_test_description():
     launch_description = LaunchDescription()
     process_under_test = ExecuteProcess(
-        cmd=['@API_COMPOSITION_EXECUTABLE@'],
+        cmd=['ros2', 'run', 'rclcpp_components', 'component_container'],
         name='test_api_composition',
         output='screen'
     )
@@ -34,20 +35,25 @@ def generate_test_description():
     launch_description.add_action(
         ExecuteProcess(
             cmd=[
-                '@API_COMPOSITION_CLI_EXECUTABLE@',
+                'ros2', 'component', 'load', '/ComponentManager',
                 'composition', 'composition::Client'
             ],
             name='load_client_component'
         )
     )
     launch_description.add_action(
-        ExecuteProcess(
-            cmd=[
-                '@API_COMPOSITION_CLI_EXECUTABLE@',
-                'composition', 'composition::Server',
-                '--delay', '5000'
-            ],
-            name='load_server_component'
+        TimerAction(
+            period=5.0,
+            actions=[
+                ExecuteProcess(
+                    cmd=[
+                        'ros2', 'component',
+                        'load', '/ComponentManager',
+                        'composition', 'composition::Server',
+                    ],
+                    name='load_server_component'
+                )
+            ]
         )
     )
     launch_description.add_action(