diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index 8829ee50..e6242318 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -16,24 +16,21 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        include:
-          # Rolling (source)
-          - ROS_DISTRO: rolling
-            BUILD_TYPE: source
-          # Jazzy (binary)
-          - ROS_DISTRO: jazzy
-            BUILD_TYPE: binary
-          # Iron (binary)
-          - ROS_DISTRO: iron
-            BUILD_TYPE: binary
+        ROS_DISTRO: [rolling, jazzy, iron]
+        BUILD_TYPE: [source, binary]
+        exclude:
+          - BUILD_TYPE: ${{ github.event_name != 'schedule' && 'source' || '' }}
     env:
       ROS2_REPOS_FILE_URL: 'https://raw.githubusercontent.com/ros2/ros2/${{ matrix.ROS_DISTRO }}/ros2.repos'
+      RMW_MIDDLEWARE_TEST_PACKAGES: 'test_rclcpp test_communication rcl'
     runs-on: ubuntu-latest
     container:
       image: ${{ matrix.BUILD_TYPE == 'binary' && format('ros:{0}-ros-base', matrix.ROS_DISTRO) || 'ubuntu:noble' }}
     steps:
     - uses: ros-tooling/setup-ros@v0.7
       if: ${{ matrix.BUILD_TYPE == 'source' }}
+      with:
+        use-ros2-testing: true
     - name: Install Coverage Tools
       if: ${{ matrix.BUILD_TYPE == 'binary' }}
       run: sudo apt update && sudo apt install -y python3-colcon-coveragepy-result python3-colcon-lcov-result lcov
@@ -42,7 +39,28 @@ jobs:
       uses: ros-tooling/action-ros-ci@v0.3
       with:
         package-name: |
+          ${{ matrix.BUILD_TYPE == 'source' && env.RMW_MIDDLEWARE_TEST_PACKAGES || '' }}
           rmw_zenoh_cpp
           zenoh_c_vendor
+        colcon-defaults: |
+          {
+            "build": {
+              "cmake-args": [
+                  "-DSKIP_MULTI_RMW_TESTS=ON"
+              ]
+            }
+          }
         target-ros2-distro: ${{ matrix.ROS_DISTRO }}
         vcs-repo-file-url: ${{ matrix.BUILD_TYPE == 'source' && env.ROS2_REPOS_FILE_URL || '' }}
+        skip-tests: true
+    - name: Run system_tests
+      if: ${{ matrix.BUILD_TYPE == 'source' }}
+      run: |
+        cd ${{ steps.action-ros-ci.outputs.ros-workspace-directory-name }}
+        . install/setup.sh
+        launch_test install/rmw_zenoh_cpp/test/rmw_zenoh_integration.test.py 'selected_system_tests:=${{ env.RMW_MIDDLEWARE_TEST_PACKAGES }}'
+    - uses: actions/upload-artifact@v3
+      if: ${{ matrix.BUILD_TYPE == 'source' }}
+      with:
+        name: colcon-logs-${{ matrix.ROS_DISTRO }}-latest
+        path: ${{ steps.action-ros-ci.outputs.ros-workspace-directory-name }}/log
diff --git a/rmw_zenoh_cpp/CMakeLists.txt b/rmw_zenoh_cpp/CMakeLists.txt
index 4ecfe360..73731e98 100644
--- a/rmw_zenoh_cpp/CMakeLists.txt
+++ b/rmw_zenoh_cpp/CMakeLists.txt
@@ -97,6 +97,9 @@ if(BUILD_TESTING)
   ament_lint_cmake()
   ament_uncrustify(EXCLUDE ${_linter_excludes})
   ament_xmllint()
+
+  install(FILES test/rmw_zenoh_integration.test.py
+    DESTINATION test)
 endif()
 
 install(
diff --git a/rmw_zenoh_cpp/package.xml b/rmw_zenoh_cpp/package.xml
index 3da4920d..3c8e1404 100644
--- a/rmw_zenoh_cpp/package.xml
+++ b/rmw_zenoh_cpp/package.xml
@@ -25,6 +25,7 @@
   <depend>rosidl_typesupport_fastrtps_cpp</depend>
   <depend>rmw</depend>
 
+  <test_depend>ament_index_python</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
diff --git a/rmw_zenoh_cpp/test/rmw_zenoh_integration.test.py b/rmw_zenoh_cpp/test/rmw_zenoh_integration.test.py
new file mode 100644
index 00000000..e7577160
--- /dev/null
+++ b/rmw_zenoh_cpp/test/rmw_zenoh_integration.test.py
@@ -0,0 +1,84 @@
+# 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.
+
+import os
+import sys
+import signal
+import subprocess
+import time
+import unittest
+
+import launch
+import launch.actions
+import launch.substitutions
+import launch_ros.actions
+import launch_testing.actions
+import launch_testing.markers
+import pytest
+
+
+proc_env = os.environ.copy()
+proc_env['RMW_IMPLEMENTATION'] = 'rmw_zenoh_cpp'
+
+@pytest.mark.launch_test
+@launch_testing.markers.keep_alive
+def generate_test_description():
+ 
+    selected_system_tests = launch.substitutions.LaunchConfiguration('selected_system_tests')
+    selected_system_tests_arg = launch.actions.DeclareLaunchArgument(
+        'selected_system_tests', 
+        default_value="test_rclcpp test_communication")
+
+    zenoh_router = launch_ros.actions.Node(
+        package="rmw_zenoh_cpp",
+        executable="rmw_zenohd",
+        output="both",
+        env=proc_env
+    )
+
+    dut_process = launch.actions.ExecuteProcess(
+        cmd=[
+            'colcon',
+            'test',
+            '--packages-select',
+            selected_system_tests,
+            '--retest-until-pass',
+            '2',
+        ],
+        shell=True,
+        env=proc_env,
+    )
+
+    return launch.LaunchDescription([
+        selected_system_tests_arg,
+        zenoh_router,
+        dut_process,
+        # In tests where all of the procs under tests terminate themselves, it's necessary
+        # to add a dummy process not under test to keep the launch alive. launch_test
+        # provides a simple launch action that does this:
+        launch_testing.util.KeepAliveProc(),
+        launch_testing.actions.ReadyToTest()
+    ]) , {'dut_process': dut_process}
+
+class TestTerminatingProcessStops(unittest.TestCase):
+    def test_proc_terminates(self, proc_info, dut_process):
+        proc_info.assertWaitForShutdown(process=dut_process, timeout=400000)
+
+# These tests are run after the processes in generate_test_description() have shutdown.
+@launch_testing.post_shutdown_test()
+class TestShutdown(unittest.TestCase):
+
+    def test_exit_codes(self, proc_info):
+        """Check if the processes exited normally."""
+        launch_testing.asserts.assertExitCodes(proc_info)