diff --git a/.github/workflows/build_agent.yml b/.github/workflows/build_agent.yml
index 7bd38afd..958775e3 100755
--- a/.github/workflows/build_agent.yml
+++ b/.github/workflows/build_agent.yml
@@ -13,7 +13,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ros_distribution: [ foxy, galactic ]
+        ros_distribution: [ galactic ]
     runs-on: rpi-ros2-${{ matrix.ros_distribution }}
     steps:
     # - uses: ros-tooling/setup-ros@0.2.1
@@ -23,7 +23,7 @@ jobs:
       with:
         path: ros_ws/src/micro_ros_renesas_testbench
         submodules: recursive
-        ref: ${{ matrix.ros_distribution }}
+        ref: feature/agent_API
         token: ${{ secrets.PRIVATE_KEY }}
     - name: Download dependencies
       run: |
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 609ae0ea..850ed956 100755
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -13,7 +13,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ros_distribution: [ foxy, galactic ]
+        ros_distribution: [ galactic ]
     runs-on: rpi-ros2-${{ matrix.ros_distribution }}
     steps:
     # - uses: ros-tooling/setup-ros@0.2.1
@@ -27,7 +27,7 @@ jobs:
       with:
         path: ros_ws/src/micro_ros_renesas_testbench
         submodules: recursive
-        ref: ${{ matrix.ros_distribution }}
+        ref: feature/agent_API
         token: ${{ secrets.PRIVATE_KEY }}
     - name: Download dependencies
       run: |
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8692552d..a46659d6 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -26,12 +26,20 @@ if(BUILD_TESTING)
   find_package(fastrtps REQUIRED)
   find_package(fastrtps_cmake_module REQUIRED)
   find_package(microxrcedds_agent REQUIRED)
+  find_package(micro_ros_agent REQUIRED)
   find_package(rclcpp REQUIRED)
   find_package(rmw REQUIRED)
   find_package(std_msgs REQUIRED)
   find_package(sensor_msgs REQUIRED)
   find_package(example_interfaces REQUIRED)
 
+  find_package(rosidl_typesupport_fastrtps_cpp REQUIRED)
+  find_package(rosidl_runtime_cpp REQUIRED)
+  find_package(rosidl_typesupport_cpp REQUIRED)
+  find_package(rmw_dds_common REQUIRED)
+  find_package(rmw_fastrtps_shared_cpp REQUIRED)
+  find_package(micro_ros_msgs REQUIRED)
+
   # ament_lint_auto_find_test_dependencies()
 
   ament_add_gtest(${PROJECT_NAME}_test
@@ -40,17 +48,20 @@ if(BUILD_TESTING)
 
   string(TOUPPER $ENV{ROS_DISTRO} ROS_DISTRO)
   target_compile_options(${PROJECT_NAME}_test PRIVATE -DROS_DISTRO_${ROS_DISTRO})
-  target_include_directories(${PROJECT_NAME}_test PRIVATE include src test)
+  target_include_directories(${PROJECT_NAME}_test PRIVATE include src test micro_ros_agent_INCLUDE_DIR)
 
   target_link_libraries(${PROJECT_NAME}_test
     fastcdr
     fastrtps
-    microxrcedds_agent)
+    microxrcedds_agent
+    micro_ros_agent
+  )
 
   ament_target_dependencies(${PROJECT_NAME}_test
     fastcdr
     fastrtps
     microxrcedds_agent
+    micro_ros_agent
     rclcpp
     rmw
     std_msgs
diff --git a/package.xml b/package.xml
index b7383d5d..89e3257d 100755
--- a/package.xml
+++ b/package.xml
@@ -19,6 +19,7 @@
   <depend>example_interfaces</depend>
 
   <depend>microxrcedds_agent</depend>
+  <depend>micro_ros_agent</depend>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
diff --git a/requirements.repos b/requirements.repos
index d55eef28..2501befb 100644
--- a/requirements.repos
+++ b/requirements.repos
@@ -7,7 +7,7 @@ repositories:
   micro-ROS-Agent:
     type: git
     url: https://github.com/micro-ROS/micro-ROS-Agent.git
-    version: galactic
+    version: feature/stop_agent
   Micro-XRCE-DDS-Agent:
     type: git
     url: https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
diff --git a/test/micro_ros_renesas_testbench/test.hpp b/test/micro_ros_renesas_testbench/test.hpp
index bdb3b1e9..dc04d734 100644
--- a/test/micro_ros_renesas_testbench/test.hpp
+++ b/test/micro_ros_renesas_testbench/test.hpp
@@ -109,7 +109,7 @@ class HardwareTestBase : public ::testing::Test
 
         // Set domain id
         rcl_allocator_t allocator = rcl_get_default_allocator();
-        rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+        init_options = rcl_get_zero_initialized_init_options();
 
         ASSERT_EQ(rcl_init_options_init(&init_options, allocator), RCL_RET_OK);
         rmw_init_options_t* rmw_options = rcl_init_options_get_rmw_init_options(&init_options);
@@ -126,6 +126,7 @@ class HardwareTestBase : public ::testing::Test
     void TearDown() override {
         agent->stop();
         rclcpp::shutdown();
+        (void) rcl_init_options_fini(&init_options);
     }
 
     bool checkConnection(){
@@ -204,6 +205,7 @@ class HardwareTestBase : public ::testing::Test
     std::shared_ptr<TestAgent> agent;
     std::shared_ptr<rclcpp::Node> node;
     rclcpp::InitOptions options;
+    rcl_init_options_t init_options;
 
     std::string cwd;
     std::string project_name;
diff --git a/test/micro_ros_renesas_testbench/test_agent.hpp b/test/micro_ros_renesas_testbench/test_agent.hpp
index bee9364f..23d9c70a 100644
--- a/test/micro_ros_renesas_testbench/test_agent.hpp
+++ b/test/micro_ros_renesas_testbench/test_agent.hpp
@@ -27,6 +27,8 @@
 #include <chrono>
 #include <thread>
 
+#include <agent/Agent.hpp>
+
 class TestAgent
 {
 public:
@@ -73,61 +75,77 @@ class TestAgent
   static std::string getIPAddress();
 
 private:
-  std::shared_ptr<std::thread> agent_thread_;
-  uint16_t port_;
+  uros::agent::Agent& micro_ros_agent;
+  std::vector<const char*> agent_args;
+  std::string port_;
   std::string dev_;
-  std::string command_;
+  std::string verbosity_;
 };
 
 TestAgent::TestAgent(uint16_t port, uint8_t verbosity = 6)
+: micro_ros_agent(micro_ros_agent.getInstance())
 {
-  port_ = port;
-  command_ = "ros2 run micro_ros_agent micro_ros_agent udp4 --port " + std::to_string(port_) + " -v" +  std::to_string(verbosity);
+  verbosity_ = "-v" + std::to_string(verbosity);
+  port_ = std::to_string(port);
+
+  agent_args.push_back("");
+  agent_args.push_back("udp4");
+  agent_args.push_back("--port");
+  agent_args.push_back(port_.c_str());
+  agent_args.push_back(verbosity_.c_str());
 }
 
 TestAgent::TestAgent(std::string dev, uint8_t verbosity = 6)
+: micro_ros_agent(micro_ros_agent.getInstance())
 {
+  verbosity_ = "-v" + std::to_string(verbosity);
   dev_ = dev;
-  command_ = "ros2 run micro_ros_agent micro_ros_agent serial --dev " + dev_ + " -v" +  std::to_string(verbosity);
+
+  agent_args.push_back("");
+  agent_args.push_back("serial");
+  agent_args.push_back("--dev");
+  agent_args.push_back(dev_.c_str());
+  agent_args.push_back(verbosity_.c_str());
 }
 
 TestAgent::TestAgent(Transport transport, std::string args, uint8_t verbosity = 6)
+: micro_ros_agent(micro_ros_agent.getInstance())
 {
-  std::string transport_type;
-
+  verbosity_ = "-v" + std::to_string(verbosity);
+  agent_args.push_back("");
+  
   switch (transport)
   {
       case Transport::UDP_THREADX_TRANSPORT:
       case Transport::UDP_FREERTOS_TRANSPORT:
-          transport_type = "udp4";
+          port_ = args;
+          agent_args.push_back("udp4");
+          agent_args.push_back("--port");
+          agent_args.push_back(port_.c_str());
           break;
       case Transport::SERIAL_TRANSPORT:
       case Transport::USB_TRANSPORT:
-          transport_type = "serial";
+          dev_ = args;
+          agent_args.push_back("serial");
+          agent_args.push_back("--dev");
+          agent_args.push_back(dev_.c_str());
           break;
       default:
           break;
   }
 
-  command_ = "ros2 run micro_ros_agent micro_ros_agent " + transport_type + " " + args + " -v" +  std::to_string(verbosity);
+  agent_args.push_back(verbosity_.c_str());
 }
 
 void TestAgent::start()
 {
-  stop();
-  agent_thread_.reset(new std::thread(
-    [&]() -> void {
-      system(command_.c_str());
-    }
-  ));
+  micro_ros_agent.create(agent_args.size(), const_cast<char**> (agent_args.data()));
+  agent_args.clear();
 }
 
 void TestAgent::stop()
 {
-  system("pkill micro_ros_agent");
-  if(agent_thread_) {
-    agent_thread_->join();
-  }
+  micro_ros_agent.stop();
 }
 
 std::string TestAgent::getIPAddress(){