diff --git a/test_communication/CMakeLists.txt b/test_communication/CMakeLists.txt
index 323ca522..92ca5531 100644
--- a/test_communication/CMakeLists.txt
+++ b/test_communication/CMakeLists.txt
@@ -41,8 +41,8 @@ if(BUILD_TESTING)
   foreach(interface_file ${interface_files})
     get_filename_component(interface_ns "${interface_file}" DIRECTORY)
     get_filename_component(interface_ns "${interface_ns}" NAME)
-    string_ends_with("${interface_file}" ".msg" is_message)
-    if(is_message AND interface_ns STREQUAL "msg")
+    string_ends_with("${interface_file}" ".idl" is_idl)
+    if(is_idl AND interface_ns STREQUAL "msg")
       list(APPEND message_files "${interface_file}")
       continue()
     endif()
@@ -51,8 +51,7 @@ if(BUILD_TESTING)
       list(APPEND service_files "${interface_file}")
       continue()
     endif()
-    string_ends_with("${interface_file}" ".idl" is_action)
-    if(is_action AND interface_ns STREQUAL "action")
+    if(is_idl AND interface_ns STREQUAL "action")
       list(APPEND action_files "${interface_file}")
       continue()
     endif()
@@ -242,6 +241,26 @@ if(BUILD_TESTING)
     set(TEST_MESSAGE_TYPES "")
     foreach(message_file ${message_files})
       get_filename_component(message_type "${message_file}" NAME_WE)
+      set(message_has_keys FALSE)
+      if(
+          "${message_type}" STREQUAL "KeyedString" OR
+          "${message_type}" STREQUAL "ComplexNestedKey"
+      )
+        set(message_has_keys TRUE)
+      endif()
+
+      # TODO(MiguelCompany): Only fastrtps RMWs interoperate for keyed messages
+      if(
+        message_has_keys AND
+        (NOT "${rmw_implementation1}" STREQUAL "${rmw_implementation2}") AND
+        (
+          (NOT rmw_implementation1_is_fastrtps) OR
+          (NOT rmw_implementation2_is_fastrtps)
+        )
+      )
+        continue()
+      endif()
+
       # TODO(dirk-thomas) WStrings published by FastRTPS can't be received
       # correctly by Connext on macOS
       if(
@@ -426,6 +445,7 @@ if(BUILD_TESTING)
   add_library(subscribe_types STATIC
     "test/subscribe_array_types.cpp"
     "test/subscribe_basic_types.cpp"
+    "test/subscribe_key_types.cpp"
     "test/subscribe_string_types.cpp")
   target_link_libraries(subscribe_types
     rclcpp::rclcpp
diff --git a/test_communication/test/subscribe_key_types.cpp b/test_communication/test/subscribe_key_types.cpp
new file mode 100644
index 00000000..3333e3df
--- /dev/null
+++ b/test_communication/test/subscribe_key_types.cpp
@@ -0,0 +1,53 @@
+// Copyright 2024 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <string>
+#include <vector>
+
+#include "rclcpp/rclcpp.hpp"
+#include "test_msgs/msg/keyed_string.hpp"
+#include "test_msgs/msg/non_keyed_with_nested_key.hpp"
+
+#include "subscribe_helper.hpp"
+#include "subscribe_key_types.hpp"
+
+rclcpp::SubscriptionBase::SharedPtr subscribe_keyed_string(
+  rclcpp::Node::SharedPtr node,
+  const std::string & message_type,
+  const std::vector<test_msgs::msg::KeyedString::SharedPtr> & expected_messages,
+  std::vector<bool> & received_messages)
+{
+  return subscribe<test_msgs::msg::KeyedString>(
+    node, message_type, expected_messages, received_messages);
+}
+
+rclcpp::SubscriptionBase::SharedPtr subscribe_non_keyed_with_nested_key(
+  rclcpp::Node::SharedPtr node,
+  const std::string & message_type,
+  const std::vector<test_msgs::msg::NonKeyedWithNestedKey::SharedPtr> & expected_messages,
+  std::vector<bool> & received_messages)
+{
+  return subscribe<test_msgs::msg::NonKeyedWithNestedKey>(
+    node, message_type, expected_messages, received_messages);
+}
+
+rclcpp::SubscriptionBase::SharedPtr subscribe_complex_nested_key(
+  rclcpp::Node::SharedPtr node,
+  const std::string & message_type,
+  const std::vector<test_msgs::msg::ComplexNestedKey::SharedPtr> & expected_messages,
+  std::vector<bool> & received_messages)
+{
+  return subscribe<test_msgs::msg::ComplexNestedKey>(
+    node, message_type, expected_messages, received_messages);
+}
diff --git a/test_communication/test/subscribe_key_types.hpp b/test_communication/test/subscribe_key_types.hpp
new file mode 100644
index 00000000..feff54bc
--- /dev/null
+++ b/test_communication/test/subscribe_key_types.hpp
@@ -0,0 +1,44 @@
+// Copyright 2024 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef SUBSCRIBE_KEY_TYPES_HPP_
+#define SUBSCRIBE_KEY_TYPES_HPP_
+
+#include <string>
+#include <vector>
+
+#include "rclcpp/rclcpp.hpp"
+#include "test_msgs/msg/complex_nested_key.hpp"
+#include "test_msgs/msg/keyed_string.hpp"
+#include "test_msgs/msg/non_keyed_with_nested_key.hpp"
+
+rclcpp::SubscriptionBase::SharedPtr subscribe_keyed_string(
+  rclcpp::Node::SharedPtr node,
+  const std::string & message_type,
+  const std::vector<test_msgs::msg::KeyedString::SharedPtr> & expected_messages,
+  std::vector<bool> & received_messages);
+
+rclcpp::SubscriptionBase::SharedPtr subscribe_non_keyed_with_nested_key(
+  rclcpp::Node::SharedPtr node,
+  const std::string & message_type,
+  const std::vector<test_msgs::msg::NonKeyedWithNestedKey::SharedPtr> & expected_messages,
+  std::vector<bool> & received_messages);
+
+rclcpp::SubscriptionBase::SharedPtr subscribe_complex_nested_key(
+  rclcpp::Node::SharedPtr node,
+  const std::string & message_type,
+  const std::vector<test_msgs::msg::ComplexNestedKey::SharedPtr> & expected_messages,
+  std::vector<bool> & received_messages);
+
+#endif  // SUBSCRIBE_KEY_TYPES_HPP_
diff --git a/test_communication/test/test_publisher.cpp b/test_communication/test/test_publisher.cpp
index caa8a882..dcfbe9d2 100644
--- a/test_communication/test/test_publisher.cpp
+++ b/test_communication/test/test_publisher.cpp
@@ -107,6 +107,13 @@ int main(int argc, char ** argv)
     publish<test_msgs::msg::Strings>(node, message, get_messages_strings());
   } else if (message == "WStrings") {
     publish<test_msgs::msg::WStrings>(node, message, get_messages_wstrings());
+  } else if (message == "KeyedString") {
+    publish<test_msgs::msg::KeyedString>(node, message, get_messages_keyed_string());
+  } else if (message == "NonKeyedWithNestedKey") {
+    publish<test_msgs::msg::NonKeyedWithNestedKey>(
+      node, message, get_messages_non_keyed_with_nested_key());
+  } else if (message == "ComplexNestedKey") {
+    publish<test_msgs::msg::ComplexNestedKey>(node, message, get_messages_complex_nested_key());
   } else {
     fprintf(stderr, "Unknown message argument '%s'\n", message.c_str());
     rclcpp::shutdown();
diff --git a/test_communication/test/test_publisher_subscriber.cpp b/test_communication/test/test_publisher_subscriber.cpp
index 9d49041e..f682a78a 100644
--- a/test_communication/test/test_publisher_subscriber.cpp
+++ b/test_communication/test/test_publisher_subscriber.cpp
@@ -25,6 +25,7 @@
 
 #include "subscribe_array_types.hpp"
 #include "subscribe_basic_types.hpp"
+#include "subscribe_key_types.hpp"
 #include "subscribe_string_types.hpp"
 
 template<typename T>
@@ -98,6 +99,9 @@ int main(int argc, char ** argv)
   auto messages_defaults = get_messages_defaults();
   auto messages_strings = get_messages_strings();
   auto messages_wstrings = get_messages_wstrings();
+  auto messages_keyed_string = get_messages_keyed_string();
+  auto messages_non_keyed_with_nested_key = get_messages_non_keyed_with_nested_key();
+  auto messages_complex_nested_key = get_messages_complex_nested_key();
 
   std::thread spin_thread([node]() {
       rclcpp::spin(node);
@@ -148,6 +152,18 @@ int main(int argc, char ** argv)
   } else if (message == "WStrings") {
     subscriber = subscribe_wstrings(node, message, messages_wstrings, received_messages);
     publish<test_msgs::msg::WStrings>(node, message, messages_wstrings);
+  } else if (message == "KeyedString") {
+    subscriber = subscribe_keyed_string(node, message, messages_keyed_string, received_messages);
+    publish<test_msgs::msg::KeyedString>(node, message, messages_keyed_string);
+  } else if (message == "NonKeyedWithNestedKey") {
+    subscriber = subscribe_non_keyed_with_nested_key(
+      node, message, messages_non_keyed_with_nested_key, received_messages);
+    publish<test_msgs::msg::NonKeyedWithNestedKey>(
+      node, message, messages_non_keyed_with_nested_key);
+  } else if (message == "ComplexNestedKey") {
+    subscriber = subscribe_complex_nested_key(
+      node, message, messages_complex_nested_key, received_messages);
+    publish<test_msgs::msg::ComplexNestedKey>(node, message, messages_complex_nested_key);
   } else {
     fprintf(stderr, "Unknown message argument '%s'\n", message.c_str());
     return 1;
diff --git a/test_communication/test/test_subscriber.cpp b/test_communication/test/test_subscriber.cpp
index 148c5266..968e1ceb 100644
--- a/test_communication/test/test_subscriber.cpp
+++ b/test_communication/test/test_subscriber.cpp
@@ -23,6 +23,7 @@
 
 #include "subscribe_array_types.hpp"
 #include "subscribe_basic_types.hpp"
+#include "subscribe_key_types.hpp"
 #include "subscribe_string_types.hpp"
 
 int main(int argc, char ** argv)
@@ -53,6 +54,9 @@ int main(int argc, char ** argv)
   auto messages_defaults = get_messages_defaults();
   auto messages_strings = get_messages_strings();
   auto messages_wstrings = get_messages_wstrings();
+  auto messages_keyed_string = get_messages_keyed_string();
+  auto messages_non_keyed_with_nested_key = get_messages_non_keyed_with_nested_key();
+  auto messages_complex_nested_key = get_messages_complex_nested_key();
 
   rclcpp::SubscriptionBase::SharedPtr subscriber;
   std::vector<bool> received_messages;  // collect flags about received messages
@@ -85,6 +89,14 @@ int main(int argc, char ** argv)
     subscriber = subscribe_strings(node, message, messages_strings, received_messages);
   } else if (message == "WStrings") {
     subscriber = subscribe_wstrings(node, message, messages_wstrings, received_messages);
+  } else if (message == "KeyedString") {
+    subscriber = subscribe_keyed_string(node, message, messages_keyed_string, received_messages);
+  } else if (message == "NonKeyedWithNestedKey") {
+    subscriber = subscribe_non_keyed_with_nested_key(
+      node, message, messages_non_keyed_with_nested_key, received_messages);
+  } else if (message == "ComplexNestedKey") {
+    subscriber = subscribe_complex_nested_key(
+      node, message, messages_complex_nested_key, received_messages);
   } else {
     fprintf(stderr, "Unknown message argument '%s'\n", message.c_str());
     rclcpp::shutdown();