diff --git a/CMakeLists.txt b/CMakeLists.txt
index ab2176a6..0885ed95 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -220,22 +220,38 @@ endif()
 
 macro(targets)
   configure_file(
-    test/test_dynamic_bridge.py.in
-    test_dynamic_bridge${target_suffix}.py.genexp
+    test/test_topics_across_dynamic_bridge.py.in
+    test_topics_across_dynamic_bridge${target_suffix}.py.genexp
     @ONLY
   )
   file(GENERATE
-    OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/test_dynamic_bridge${target_suffix}_$<CONFIG>.py"
-    INPUT "${CMAKE_CURRENT_BINARY_DIR}/test_dynamic_bridge${target_suffix}.py.genexp"
+    OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/test_topics_across_dynamic_bridge${target_suffix}_$<CONFIG>.py"
+    INPUT "${CMAKE_CURRENT_BINARY_DIR}/test_topics_across_dynamic_bridge${target_suffix}.py.genexp"
   )
-  ament_add_pytest_test(test_dynamic_bridge${target_suffix}
-    "${CMAKE_CURRENT_BINARY_DIR}/test_dynamic_bridge${target_suffix}_$<CONFIG>.py"
+  add_launch_test(
+    "${CMAKE_CURRENT_BINARY_DIR}/test_topics_across_dynamic_bridge${target_suffix}_$<CONFIG>.py"
+    TARGET test_topics_across_dynamic_bridge${target_suffix}
+    ENV RMW_IMPLEMENTAION=${rmw_implementaion}
+    TIMEOUT 60)
+
+  configure_file(
+    test/test_services_across_dynamic_bridge.py.in
+    test_services_across_dynamic_bridge${target_suffix}.py.genexp
+    @ONLY
+  )
+  file(GENERATE
+    OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/test_services_across_dynamic_bridge${target_suffix}_$<CONFIG>.py"
+    INPUT "${CMAKE_CURRENT_BINARY_DIR}/test_services_across_dynamic_bridge${target_suffix}.py.genexp"
+  )
+  add_launch_test(
+    "${CMAKE_CURRENT_BINARY_DIR}/test_services_across_dynamic_bridge${target_suffix}_$<CONFIG>.py"
+    TARGET test_services_across_dynamic_bridge${target_suffix}
     ENV RMW_IMPLEMENTAION=${rmw_implementaion}
     TIMEOUT 60)
 endmacro()
 
 if(TEST_ROS1_BRIDGE)
-  find_package(ament_cmake_pytest REQUIRED)
+  find_package(launch_testing_ament_cmake REQUIRED)
 
   add_executable(test_ros1_client "test/test_ros1_client.cpp")
   ament_target_dependencies(test_ros1_client "ros1_roscpp")
diff --git a/package.xml b/package.xml
index 2cfcc8bc..77868780 100644
--- a/package.xml
+++ b/package.xml
@@ -29,13 +29,14 @@
   <exec_depend>rcutils</exec_depend>
   <exec_depend>std_msgs</exec_depend>
 
-  <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>demo_nodes_cpp</test_depend>
   <test_depend>diagnostic_msgs</test_depend>
   <test_depend>launch</test_depend>
   <test_depend>launch_testing</test_depend>
+  <test_depend>launch_testing_ament_cmake</test_depend>
+  <test_depend>launch_testing_ros</test_depend>
   <test_depend>ros2run</test_depend>
 
   <group_depend>rosidl_interface_packages</group_depend>
diff --git a/test/test_dynamic_bridge.py.in b/test/test_dynamic_bridge.py.in
deleted file mode 100644
index c31db2a3..00000000
--- a/test/test_dynamic_bridge.py.in
+++ /dev/null
@@ -1,195 +0,0 @@
-# Copyright 2016 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 re
-
-from launch import LaunchDescription
-from launch import LaunchService
-from launch.actions import ExecuteProcess
-from launch_testing import LaunchTestService
-from launch_testing.output import create_output_lines_filter
-from launch_testing.output import create_output_regex_test
-
-
-from ros2run.api import get_executable_path
-
-
-TEST_BRIDGE_ROS1_ENV = '@TEST_BRIDGE_ROS1_ENV@'
-TEST_BRIDGE_ROSCORE = '@TEST_BRIDGE_ROSCORE@'
-TEST_BRIDGE_ROS1_TALKER = ['rosrun', 'roscpp_tutorials', 'talker']
-TEST_BRIDGE_ROS1_LISTENER = ['rosrun', 'rospy_tutorials', 'listener']
-TEST_BRIDGE_ROS1_CLIENT = '@TEST_BRIDGE_ROS1_CLIENT@'
-TEST_BRIDGE_ROS1_SERVER = '@TEST_BRIDGE_ROS1_SERVER@'
-TEST_BRIDGE_DYNAMIC_BRIDGE = '@TEST_BRIDGE_DYNAMIC_BRIDGE@'
-TEST_BRIDGE_ROS2_TALKER = get_executable_path(
-    package_name='demo_nodes_cpp', executable_name='talker')
-TEST_BRIDGE_ROS2_LISTENER = get_executable_path(
-    package_name='demo_nodes_cpp', executable_name='listener')
-TEST_BRIDGE_ROS2_CLIENT = '@TEST_BRIDGE_ROS2_CLIENT@'
-TEST_BRIDGE_ROS2_SERVER = '@TEST_BRIDGE_ROS2_SERVER@'
-TEST_BRIDGE_RMW = '@TEST_BRIDGE_RMW@'
-
-
-def get_default_launch_test_description(name):
-    launch_description = LaunchDescription()
-    launch_test = LaunchTestService()
-
-    # ROS 1 core
-    launch_test.add_fixture_action(
-        launch_description, ExecuteProcess(
-            cmd=[TEST_BRIDGE_ROS1_ENV, TEST_BRIDGE_ROSCORE],
-            name=name + '__roscore',
-        ), exit_allowed=True
-    )
-
-    # dynamic bridge
-    launch_test.add_fixture_action(
-        launch_description, ExecuteProcess(
-            cmd=[TEST_BRIDGE_ROS1_ENV, TEST_BRIDGE_DYNAMIC_BRIDGE],
-            name=name + '__dynamic_bridge',
-        )
-    )
-
-    return launch_description, launch_test
-
-
-def test_dynamic_bridge_msg_1to2():
-    name = 'test_dynamic_bridge_msg_1to2'
-
-    launch_description, launch_test = get_default_launch_test_description(name)
-
-    launch_test.add_fixture_action(
-        launch_description, ExecuteProcess(
-            cmd=[TEST_BRIDGE_ROS1_ENV] + TEST_BRIDGE_ROS1_TALKER,
-            name=name + '__ros1talker',
-        )
-    )
-
-    action = launch_test.add_fixture_action(
-        launch_description, ExecuteProcess(
-            cmd=[TEST_BRIDGE_ROS2_LISTENER],
-            name=name + '__ros2listener',
-            output='screen'
-        ), exit_allowed=True
-    )
-
-    launch_test.add_output_test(
-        launch_description, action,
-        output_test=create_output_regex_test(
-            expected_patterns=[re.compile(b'I heard.+')]
-        ),
-        output_filter=create_output_lines_filter(
-            filtered_rmw_implementation=TEST_BRIDGE_RMW,
-        )
-    )
-
-    launch(launch_test, launch_description)
-
-
-def test_dynamic_bridge_msg_2to1():
-    name = 'test_dynamic_bridge_msg_2to1'
-
-    launch_description, launch_test = get_default_launch_test_description(name)
-
-    launch_test.add_fixture_action(
-        launch_description, ExecuteProcess(
-            cmd=[TEST_BRIDGE_ROS2_TALKER],
-            name=name + '__ros2talker',
-        )
-    )
-
-    env = dict(os.environ)
-    env['PYTHONUNBUFFERED'] = '1'
-    action = launch_test.add_fixture_action(
-        launch_description, ExecuteProcess(
-            cmd=[TEST_BRIDGE_ROS1_ENV] + TEST_BRIDGE_ROS1_LISTENER,
-            name=name + '__ros1listener',
-            env=env,
-            output='screen'
-        ), exit_allowed=True
-    )
-
-    launch_test.add_output_test(
-        launch_description, action,
-        output_test=create_output_regex_test(
-            expected_patterns=[re.compile(b'I heard.+')]
-        ),
-        output_filter=create_output_lines_filter(
-            filtered_rmw_implementation=TEST_BRIDGE_RMW,
-        ),
-        side_effect='shutdown',
-    )
-
-    launch(launch_test, launch_description)
-
-
-def test_dynamic_bridge_srv_1to2():
-    name = 'test_dynamic_bridge_srv_1to2'
-
-    launch_description, launch_test = get_default_launch_test_description(name)
-
-    launch_test.add_fixture_action(
-        launch_description, ExecuteProcess(
-            cmd=[TEST_BRIDGE_ROS1_ENV, TEST_BRIDGE_ROS1_SERVER],
-            name=name + '__ros1server',
-        )
-    )
-
-    launch_test.add_test_action(
-        launch_description, ExecuteProcess(
-            cmd=[TEST_BRIDGE_ROS2_CLIENT],
-            name=name + '__ros2client',
-        )
-    )
-
-    launch(launch_test, launch_description)
-
-
-def test_dynamic_bridge_srv_2to1():
-    name = 'test_dynamic_bridge_srv_2to1'
-
-    launch_description, launch_test = get_default_launch_test_description(name)
-
-    launch_test.add_fixture_action(
-        launch_description, ExecuteProcess(
-            cmd=[TEST_BRIDGE_ROS2_SERVER],
-            name=name + '__ros2server',
-        )
-    )
-
-    launch_test.add_test_action(
-        launch_description, ExecuteProcess(
-            cmd=[TEST_BRIDGE_ROS1_ENV, TEST_BRIDGE_ROS1_CLIENT],
-            name=name + '__ros1client',
-        )
-    )
-
-    launch(launch_test, launch_description)
-
-
-def launch(launch_test, launch_description):
-    launch_service = LaunchService()
-    launch_service.include_launch_description(launch_description)
-    rc = launch_test.run(launch_service)
-
-    assert rc == 0, \
-        "The launch file failed with exit code '%s'" % str(rc)
-
-
-if __name__ == '__main__':
-    test_dynamic_bridge_msg_1to2()
-    test_dynamic_bridge_msg_2to1()
-    test_dynamic_bridge_srv_1to2()
-    test_dynamic_bridge_srv_2to1()
diff --git a/test/test_services_across_dynamic_bridge.py.in b/test/test_services_across_dynamic_bridge.py.in
new file mode 100644
index 00000000..91b0f1c7
--- /dev/null
+++ b/test/test_services_across_dynamic_bridge.py.in
@@ -0,0 +1,87 @@
+# Copyright 2016 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 unittest
+
+from launch import LaunchDescription
+from launch.actions import ExecuteProcess
+from launch.actions import OpaqueFunction
+
+import launch_testing
+
+
+TEST_BRIDGE_ROS1_ENV = '@TEST_BRIDGE_ROS1_ENV@'
+TEST_BRIDGE_ROSCORE = '@TEST_BRIDGE_ROSCORE@'
+TEST_BRIDGE_ROS1_CLIENT = '@TEST_BRIDGE_ROS1_CLIENT@'
+TEST_BRIDGE_ROS1_SERVER = '@TEST_BRIDGE_ROS1_SERVER@'
+TEST_BRIDGE_DYNAMIC_BRIDGE = '@TEST_BRIDGE_DYNAMIC_BRIDGE@'
+TEST_BRIDGE_ROS2_CLIENT = '@TEST_BRIDGE_ROS2_CLIENT@'
+TEST_BRIDGE_ROS2_SERVER = '@TEST_BRIDGE_ROS2_SERVER@'
+
+
+@launch_testing.parametrize('test_name,server_cmd,client_cmd', [
+    ('ros1_server_ros2_client_across_dynamic_bridge',
+     [TEST_BRIDGE_ROS1_ENV, TEST_BRIDGE_ROS1_SERVER],
+     [TEST_BRIDGE_ROS2_CLIENT]),
+    ('ros2_server_ros1_client_across_dynamic_bridge',
+     [TEST_BRIDGE_ROS2_SERVER],
+     [TEST_BRIDGE_ROS1_ENV, TEST_BRIDGE_ROS1_CLIENT]),
+])
+def generate_test_description(test_name, server_cmd, client_cmd, ready_fn):
+    launch_description = LaunchDescription()
+
+    # ROS 1 core
+    launch_description.add_action(ExecuteProcess(
+        cmd=[TEST_BRIDGE_ROS1_ENV, TEST_BRIDGE_ROSCORE],
+        name=test_name + '__roscore',
+    ))
+
+    # dynamic bridge
+    rosbridge_process = ExecuteProcess(
+        cmd=[TEST_BRIDGE_ROS1_ENV, TEST_BRIDGE_DYNAMIC_BRIDGE],
+        name=test_name + '__dynamic_bridge',
+    )
+    launch_description.add_action(rosbridge_process)
+
+    server_process = ExecuteProcess(
+        cmd=server_cmd, name=test_name + '__server',
+    )
+    launch_description.add_action(server_process)
+
+    client_process = ExecuteProcess(
+        cmd=client_cmd, name=test_name + '__client',
+    )
+    launch_description.add_action(client_process)
+
+    launch_description.add_action(
+        OpaqueFunction(function=lambda context: ready_fn())
+    )
+    return launch_description, locals()
+
+
+class TestServicesAcrossDynamicBridge(unittest.TestCase):
+    def test_client_process_terminates_after_a_finite_amount_of_time(self, client_process):
+        """Test that the client executables terminates after a finite amount of time."""
+        self.proc_info.assertWaitForShutdown(process=client_process, timeout=30)
+
+
+@launch_testing.post_shutdown_test()
+class TestServicesAcrossDynamicBridgeAfterShutdown(unittest.TestCase):
+
+    def test_processes_finished_gracefully(self, proc_info, rosbridge_process,
+                                           server_process, client_process):
+        """Test that both executables finished gracefully."""
+        launch_testing.asserts.assertExitCodes(proc_info, process=rosbridge_process)
+        launch_testing.asserts.assertExitCodes(proc_info, process=server_process)
+        launch_testing.asserts.assertExitCodes(proc_info, process=client_process)
diff --git a/test/test_topics_across_dynamic_bridge.py.in b/test/test_topics_across_dynamic_bridge.py.in
new file mode 100644
index 00000000..57954bf6
--- /dev/null
+++ b/test/test_topics_across_dynamic_bridge.py.in
@@ -0,0 +1,106 @@
+# Copyright 2016 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 re
+
+import unittest
+
+from launch import LaunchDescription
+from launch.actions import ExecuteProcess
+from launch.actions import OpaqueFunction
+
+import launch_testing
+import launch_testing_ros
+
+from ros2run.api import get_executable_path
+
+
+TEST_BRIDGE_ROS1_ENV = '@TEST_BRIDGE_ROS1_ENV@'
+TEST_BRIDGE_ROSCORE = '@TEST_BRIDGE_ROSCORE@'
+TEST_BRIDGE_ROS1_TALKER = ['rosrun', 'roscpp_tutorials', 'talker']
+TEST_BRIDGE_ROS1_LISTENER = ['rosrun', 'rospy_tutorials', 'listener']
+TEST_BRIDGE_DYNAMIC_BRIDGE = '@TEST_BRIDGE_DYNAMIC_BRIDGE@'
+TEST_BRIDGE_ROS2_TALKER = get_executable_path(
+    package_name='demo_nodes_cpp', executable_name='talker')
+TEST_BRIDGE_ROS2_LISTENER = get_executable_path(
+    package_name='demo_nodes_cpp', executable_name='listener')
+TEST_BRIDGE_RMW = '@TEST_BRIDGE_RMW@'
+
+
+@launch_testing.parametrize('test_name,talker_cmd,listener_cmd', [
+    ('ros1_talker_ros2_listener_across_dynamic_bridge',
+     [TEST_BRIDGE_ROS1_ENV] + TEST_BRIDGE_ROS1_TALKER,
+     [TEST_BRIDGE_ROS2_LISTENER]),
+    ('ros2_talker_ros1_listener_across_dynamic_bridge',
+     [TEST_BRIDGE_ROS2_TALKER],
+     [TEST_BRIDGE_ROS1_ENV] + TEST_BRIDGE_ROS1_LISTENER),
+])
+def generate_test_description(test_name, talker_cmd, listener_cmd, ready_fn):
+    launch_description = LaunchDescription()
+
+    # ROS 1 core
+    launch_description.add_action(ExecuteProcess(
+        cmd=[TEST_BRIDGE_ROS1_ENV, TEST_BRIDGE_ROSCORE],
+        name=test_name + '__roscore',
+    ))
+
+    # dynamic bridge
+    rosbridge_process = ExecuteProcess(
+        cmd=[TEST_BRIDGE_ROS1_ENV, TEST_BRIDGE_DYNAMIC_BRIDGE],
+        name=test_name + '__dynamic_bridge',
+    )
+    launch_description.add_action(rosbridge_process)
+
+    talker_process = ExecuteProcess(
+        cmd=talker_cmd, name=test_name + '__talker',
+    )
+    launch_description.add_action(talker_process)
+
+    env = dict(os.environ)
+    env['PYTHONUNBUFFERED'] = '1'
+    listener_process = ExecuteProcess(
+        cmd=listener_cmd, name=test_name + '__listener', env=env
+    )
+    launch_description.add_action(listener_process)
+
+    launch_description.add_action(
+        OpaqueFunction(function=lambda context: ready_fn())
+    )
+    return launch_description, locals()
+
+
+class TestTopicsAcrossDynamicBridge(unittest.TestCase):
+
+    def test_listener_output(self, proc_output, listener_process):
+        output_filter = launch_testing_ros.tools.basic_output_filter(
+            filtered_rmw_implementation=TEST_BRIDGE_RMW
+        )
+        proc_output.assertWaitFor(
+            expected_output=[re.compile('I heard.+')],
+            process=listener_process,
+            output_filter=output_filter,
+            timeout=10
+        )
+
+
+@launch_testing.post_shutdown_test()
+class TestTopicsAcrossDynamicBridgeAfterShutdown(unittest.TestCase):
+
+    def test_processes_finished_gracefully(self, proc_info, rosbridge_process,
+                                           talker_process, listener_process):
+        """Test that both executables finished gracefully."""
+        launch_testing.asserts.assertExitCodes(proc_info, process=rosbridge_process)
+        launch_testing.asserts.assertExitCodes(proc_info, process=talker_process)
+        launch_testing.asserts.assertExitCodes(proc_info, process=listener_process)