diff --git a/rclcpp/package.xml b/rclcpp/package.xml
index 385ecd57b4..666212d48c 100644
--- a/rclcpp/package.xml
+++ b/rclcpp/package.xml
@@ -47,9 +47,8 @@
   <depend>statistics_msgs</depend>
   <depend>tracetools</depend>
 
-  <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>ament_cmake_google_benchmark</test_depend>
-  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>mimick_vendor</test_depend>
diff --git a/rclcpp/test/rclcpp/CMakeLists.txt b/rclcpp/test/rclcpp/CMakeLists.txt
index 6033ae2346..b9553b47f3 100644
--- a/rclcpp/test/rclcpp/CMakeLists.txt
+++ b/rclcpp/test/rclcpp/CMakeLists.txt
@@ -662,32 +662,24 @@ endif()
 function(test_on_all_rmws)
   set(rmw_implementation_env_var RMW_IMPLEMENTATION=${rmw_implementation})
 
-  # If the rmw_implementation is rmw_zenoh_cpp, run the tests with multicast discovery enabled.
-  # Note: This is a temporary change that will be reverted before we branch into Kilted.
-  if(rmw_implementation STREQUAL "rmw_zenoh_cpp")
-    list(APPEND rmw_implementation_env_var
-      ZENOH_CONFIG_OVERRIDE=scouting/multicast/enabled=true
-    )
-  endif()
-
-  ament_add_gmock_test(test_qos_event
+  ament_add_ros_isolated_gmock_test(test_qos_event
     TEST_NAME test_qos_event${target_suffix}
     ENV ${rmw_implementation_env_var}
   )
   ament_add_test_label(test_qos_event${target_suffix} mimick)
 
-  ament_add_gmock_test(test_generic_pubsub
+  ament_add_ros_isolated_gmock_test(test_generic_pubsub
     TEST_NAME test_generic_pubsub${target_suffix}
     ENV ${rmw_implementation_env_var}
   )
 
-  ament_add_gmock_test(test_add_callback_groups_to_executor
+  ament_add_ros_isolated_gmock_test(test_add_callback_groups_to_executor
     TEST_NAME test_add_callback_groups_to_executor${target_suffix}
     ENV ${rmw_implementation_env_var}
     TIMEOUT 120
   )
 
-  ament_add_gmock_test(test_subscription_content_filter
+  ament_add_ros_isolated_gmock_test(test_subscription_content_filter
     TEST_NAME test_subscription_content_filter${target_suffix}
     ENV ${rmw_implementation_env_var}
     TIMEOUT 120