diff --git a/example_1/test/test_rrbot_launch.py b/example_1/test/test_rrbot_launch.py
index ecc66ecf7..30fa7467e 100644
--- a/example_1/test/test_rrbot_launch.py
+++ b/example_1/test/test_rrbot_launch.py
@@ -41,7 +41,6 @@
 
 # import launch_testing.markers
 import rclpy
-from rclpy.node import Node
 from ros2_control_demo_testing.test_utils import (
     check_controllers_running,
     check_if_js_published,
@@ -68,14 +67,19 @@ def generate_test_description():
 # This is our test fixture. Each method is a test case.
 # These run alongside the processes specified in generate_test_description()
 class TestFixture(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
 
     def setUp(self):
-        rclpy.init()
-        self.node = Node("test_node")
+        self.node = rclpy.create_node("test_node")
 
     def tearDown(self):
         self.node.destroy_node()
-        rclpy.shutdown()
 
     def test_node_start(self, proc_output):
         check_node_running(self.node, "robot_state_publisher")
@@ -91,14 +95,19 @@ def test_check_if_msgs_published(self):
 
 
 class TestFixtureCLI(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
 
     def setUp(self):
-        rclpy.init()
-        self.node = Node("test_node")
+        self.node = rclpy.create_node("test_node")
 
     def tearDown(self):
         self.node.destroy_node()
-        rclpy.shutdown()
 
     def test_main(self, proc_output):
 
diff --git a/example_1/test/test_rrbot_launch_cli_direct.py b/example_1/test/test_rrbot_launch_cli_direct.py
index cab04cfa8..0aa14fabb 100644
--- a/example_1/test/test_rrbot_launch_cli_direct.py
+++ b/example_1/test/test_rrbot_launch_cli_direct.py
@@ -41,7 +41,6 @@
 
 # import launch_testing.markers
 import rclpy
-from rclpy.node import Node
 from ros2_control_demo_testing.test_utils import check_controllers_running
 
 
@@ -62,14 +61,19 @@ def generate_test_description():
 
 
 class TestFixtureCliDirect(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
 
     def setUp(self):
-        rclpy.init()
-        self.node = Node("test_node")
+        self.node = rclpy.create_node("test_node")
 
     def tearDown(self):
         self.node.destroy_node()
-        rclpy.shutdown()
 
     def test_main(self, proc_output):
 
diff --git a/example_10/test/test_rrbot_launch.py b/example_10/test/test_rrbot_launch.py
index 005ee36e8..e9df25da7 100644
--- a/example_10/test/test_rrbot_launch.py
+++ b/example_10/test/test_rrbot_launch.py
@@ -39,7 +39,6 @@
 from launch_testing.actions import ReadyToTest
 
 import rclpy
-from rclpy.node import Node
 from ros2_control_demo_testing.test_utils import (
     check_controllers_running,
     check_if_js_published,
@@ -68,14 +67,19 @@ def generate_test_description():
 # This is our test fixture. Each method is a test case.
 # These run alongside the processes specified in generate_test_description()
 class TestFixture(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
 
     def setUp(self):
-        rclpy.init()
-        self.node = Node("test_node")
+        self.node = rclpy.create_node("test_node")
 
     def tearDown(self):
         self.node.destroy_node()
-        rclpy.shutdown()
 
     def test_node_start(self, proc_output):
         check_node_running(self.node, "robot_state_publisher")
diff --git a/example_11/test/test_carlikebot_launch.py b/example_11/test/test_carlikebot_launch.py
index 5636eda21..1afb4ff33 100644
--- a/example_11/test/test_carlikebot_launch.py
+++ b/example_11/test/test_carlikebot_launch.py
@@ -40,7 +40,6 @@
 
 # import launch_testing.markers
 import rclpy
-from rclpy.node import Node
 from ros2_control_demo_testing.test_utils import (
     check_controllers_running,
     check_if_js_published,
@@ -67,14 +66,19 @@ def generate_test_description():
 # This is our test fixture. Each method is a test case.
 # These run alongside the processes specified in generate_test_description()
 class TestFixture(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
 
     def setUp(self):
-        rclpy.init()
-        self.node = Node("test_node")
+        self.node = rclpy.create_node("test_node")
 
     def tearDown(self):
         self.node.destroy_node()
-        rclpy.shutdown()
 
     def test_node_start(self, proc_output):
         check_node_running(self.node, "robot_state_publisher")
diff --git a/example_12/test/test_rrbot_launch.py b/example_12/test/test_rrbot_launch.py
index 5f716c906..5abbec91a 100644
--- a/example_12/test/test_rrbot_launch.py
+++ b/example_12/test/test_rrbot_launch.py
@@ -41,7 +41,6 @@
 
 # import launch_testing.markers
 import rclpy
-from rclpy.node import Node
 from ros2_control_demo_testing.test_utils import (
     check_controllers_running,
     check_if_js_published,
@@ -68,14 +67,19 @@ def generate_test_description():
 # This is our test fixture. Each method is a test case.
 # These run alongside the processes specified in generate_test_description()
 class TestFixture(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
 
     def setUp(self):
-        rclpy.init()
-        self.node = Node("test_node")
+        self.node = rclpy.create_node("test_node")
 
     def tearDown(self):
         self.node.destroy_node()
-        rclpy.shutdown()
 
     def test_node_start(self, proc_output):
         check_node_running(self.node, "robot_state_publisher")
@@ -97,10 +101,9 @@ def test_check_if_msgs_published(self):
 # This is our second test fixture. Each method is a test case.
 # These run alongside the processes specified in generate_test_description()
 class TestFixtureChained(unittest.TestCase):
-
-    def setUp(self):
+    @classmethod
+    def setUpClass(cls):
         rclpy.init()
-        self.node = Node("test_node")
         # Command to run the launch file
         command = [
             "ros2",
@@ -111,9 +114,15 @@ def setUp(self):
         # Execute the command
         subprocess.run(command)
 
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
+
+    def setUp(self):
+        self.node = rclpy.create_node("test_node")
+
     def tearDown(self):
         self.node.destroy_node()
-        rclpy.shutdown()
 
     def test_node_start(self, proc_output):
         check_node_running(self.node, "robot_state_publisher")
diff --git a/example_13/CMakeLists.txt b/example_13/CMakeLists.txt
index 06aec8e9d..e63aa68a5 100644
--- a/example_13/CMakeLists.txt
+++ b/example_13/CMakeLists.txt
@@ -34,11 +34,18 @@ install(
 )
 
 if(BUILD_TESTING)
+  find_package(ament_cmake_ros REQUIRED)
+  find_package(launch_testing_ament_cmake REQUIRED)
   find_package(ament_cmake_pytest REQUIRED)
 
   ament_add_pytest_test(example_13_urdf_xacro test/test_urdf_xacro.py)
   ament_add_pytest_test(view_example_13_launch test/test_view_robot_launch.py)
-  ament_add_pytest_test(run_example_13_launch test/test_three_robots_launch.py)
+
+  function(add_ros_isolated_launch_test path)
+    set(RUNNER "${ament_cmake_ros_DIR}/run_test_isolated.py")
+    add_launch_test("${path}" RUNNER "${RUNNER}" ${ARGN})
+  endfunction()
+  add_ros_isolated_launch_test(test/test_three_robots_launch.py)
 endif()
 
 ## EXPORTS
diff --git a/example_13/bringup/launch/three_robots.launch.py b/example_13/bringup/launch/three_robots.launch.py
index 8a2aa2b53..e9a1679cc 100644
--- a/example_13/bringup/launch/three_robots.launch.py
+++ b/example_13/bringup/launch/three_robots.launch.py
@@ -22,6 +22,7 @@
 
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
+from controller_manager.launch_utils import generate_controllers_spawner_launch_description
 
 
 def generate_launch_description():
@@ -104,85 +105,44 @@ def generate_launch_description():
         condition=IfCondition(gui),
     )
 
-    # Separate robot state publishers for each robot
-
-    # Global joint state broadcaster
-    joint_state_broadcaster_spawner = Node(
-        package="controller_manager",
-        executable="spawner",
-        arguments=["joint_state_broadcaster"],
+    # global broadcaster and initially active controllers from RRBot
+    general_ctrl_spawner = generate_controllers_spawner_launch_description(
+        [
+            # Global joint state broadcaster
+            "joint_state_broadcaster",
+            # RRBot controllers
+            "rrbot_joint_state_broadcaster",
+            "rrbot_position_controller",
+            # External FTS broadcaster
+            "rrbot_external_fts_broadcaster",
+        ],
+        controller_params_files=[robot_controllers],
     )
 
-    # RRBot controllers
-    rrbot_joint_state_broadcaster_spawner = Node(
-        package="controller_manager",
-        executable="spawner",
-        arguments=["rrbot_joint_state_broadcaster", "--param-file", robot_controllers],
-    )
-    rrbot_position_controller_spawner = Node(
-        package="controller_manager",
-        executable="spawner",
-        arguments=["rrbot_position_controller", "--param-file", robot_controllers],
-    )
-    # External FTS broadcaster
-    rrbot_external_fts_broadcaster_spawner = Node(
-        package="controller_manager",
-        executable="spawner",
-        arguments=["rrbot_external_fts_broadcaster", "--param-file", robot_controllers],
+    # RRBot with sensors controllers, initially active
+    rrbot_sensor_ctrl_spawner_active = generate_controllers_spawner_launch_description(
+        ["rrbot_with_sensor_joint_state_broadcaster", "rrbot_with_sensor_fts_broadcaster"],
+        controller_params_files=[robot_controllers],
     )
 
-    # RRBot controllers
-    rrbot_with_sensor_joint_state_broadcaster_spawner = Node(
-        package="controller_manager",
-        executable="spawner",
-        arguments=["rrbot_with_sensor_joint_state_broadcaster", "--param-file", robot_controllers],
-    )
-    rrbot_with_sensor_position_controller_spawner = Node(
-        package="controller_manager",
-        executable="spawner",
-        arguments=[
+    # RRBot with sensors controllers, initially inactive
+    rrbot_sensor_ctrl_spawner_inactive = generate_controllers_spawner_launch_description(
+        [
             "rrbot_with_sensor_position_controller",
-            "--inactive",
-            "--param-file",
-            robot_controllers,
         ],
-    )
-    rrbot_with_sensor_fts_broadcaster_spawner = Node(
-        package="controller_manager",
-        executable="spawner",
-        arguments=["rrbot_with_sensor_fts_broadcaster", "--param-file", robot_controllers],
+        controller_params_files=[robot_controllers],
+        extra_spawner_args=["--inactive"],
     )
 
-    # ThreeDofBot controllers
-    threedofbot_joint_state_broadcaster_spawner = Node(
-        package="controller_manager",
-        executable="spawner",
-        arguments=[
+    # ThreeDofBot controllers, initially inactive
+    threedofbot_ctrl_spawner = generate_controllers_spawner_launch_description(
+        [
             "threedofbot_joint_state_broadcaster",
-            "--inactive",
-            "--param-file",
-            robot_controllers,
-        ],
-    )
-    threedofbot_position_controller_spawner = Node(
-        package="controller_manager",
-        executable="spawner",
-        arguments=[
             "threedofbot_position_controller",
-            "--inactive",
-            "--param-file",
-            robot_controllers,
-        ],
-    )
-    threedofbot_pid_gain_controller_spawner = Node(
-        package="controller_manager",
-        executable="spawner",
-        arguments=[
             "threedofbot_pid_gain_controller",
-            "--inactive",
-            "--param-file",
-            robot_controllers,
         ],
+        controller_params_files=[robot_controllers],
+        extra_spawner_args=["--inactive"],
     )
 
     # Command publishers
@@ -209,16 +169,10 @@ def generate_launch_description():
         control_node,
         robot_state_pub_node,
         rviz_node,
-        joint_state_broadcaster_spawner,
-        rrbot_joint_state_broadcaster_spawner,
-        rrbot_position_controller_spawner,
-        rrbot_external_fts_broadcaster_spawner,
-        rrbot_with_sensor_joint_state_broadcaster_spawner,
-        rrbot_with_sensor_position_controller_spawner,
-        rrbot_with_sensor_fts_broadcaster_spawner,
-        threedofbot_joint_state_broadcaster_spawner,
-        threedofbot_position_controller_spawner,
-        threedofbot_pid_gain_controller_spawner,
+        general_ctrl_spawner,
+        rrbot_sensor_ctrl_spawner_active,
+        rrbot_sensor_ctrl_spawner_inactive,
+        threedofbot_ctrl_spawner,
         rrbot_position_command_publisher,
         rrbot_with_sensor_position_command_publisher,
         threedofbot_position_command_publisher,
diff --git a/example_13/package.xml b/example_13/package.xml
index 0cc8f4a59..9e0af6f60 100644
--- a/example_13/package.xml
+++ b/example_13/package.xml
@@ -31,8 +31,13 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
-  <test_depend>launch_testing_ros</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
+  <test_depend>launch_ros</test_depend>
+  <test_depend>launch_testing_ament_cmake</test_depend>
+  <test_depend>launch_testing</test_depend>
+  <test_depend>launch</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
+  <test_depend>rclpy</test_depend>
   <test_depend>ros2_control_demo_testing</test_depend>
   <test_depend>xacro</test_depend>
 
diff --git a/example_13/test/test_three_robots_launch.py b/example_13/test/test_three_robots_launch.py
index 0937f3de6..eaaa12ac1 100644
--- a/example_13/test/test_three_robots_launch.py
+++ b/example_13/test/test_three_robots_launch.py
@@ -29,7 +29,6 @@
 # Author: Christoph Froehlich
 
 import os
-import pytest
 import unittest
 import subprocess
 
@@ -41,7 +40,6 @@
 
 # import launch_testing.markers
 import rclpy
-from rclpy.node import Node
 from ros2_control_demo_testing.test_utils import (
     check_controllers_running,
     check_if_js_published,
@@ -49,8 +47,7 @@
 )
 
 
-# Executes the given launch file and checks if all nodes can be started
-@pytest.mark.rostest
+# Executes the given launch file
 def generate_test_description():
     launch_include = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
@@ -68,14 +65,19 @@ def generate_test_description():
 # This is our first test fixture. Each method is a test case.
 # These run alongside the processes specified in generate_test_description()
 class TestFixture(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
 
     def setUp(self):
-        rclpy.init()
-        self.node = Node("test_node")
+        self.node = rclpy.create_node("test_node")
 
     def tearDown(self):
         self.node.destroy_node()
-        rclpy.shutdown()
 
     def test_node_start(self, proc_output):
         check_node_running(self.node, "robot_state_publisher")
diff --git a/example_14/test/test_rrbot_modular_actuators_without_feedback_sensors_for_position_feedback_launch.py b/example_14/test/test_rrbot_modular_actuators_without_feedback_sensors_for_position_feedback_launch.py
index 9f8158944..b26ee3a40 100644
--- a/example_14/test/test_rrbot_modular_actuators_without_feedback_sensors_for_position_feedback_launch.py
+++ b/example_14/test/test_rrbot_modular_actuators_without_feedback_sensors_for_position_feedback_launch.py
@@ -40,7 +40,6 @@
 
 # import launch_testing.markers
 import rclpy
-from rclpy.node import Node
 from ros2_control_demo_testing.test_utils import (
     check_controllers_running,
     check_if_js_published,
@@ -67,14 +66,19 @@ def generate_test_description():
 # This is our test fixture. Each method is a test case.
 # These run alongside the processes specified in generate_test_description()
 class TestFixture(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
 
     def setUp(self):
-        rclpy.init()
-        self.node = Node("test_node")
+        self.node = rclpy.create_node("test_node")
 
     def tearDown(self):
         self.node.destroy_node()
-        rclpy.shutdown()
 
     def test_node_start(self, proc_output):
         check_node_running(self.node, "robot_state_publisher")
diff --git a/example_15/test/test_multi_controller_manager_launch.py b/example_15/test/test_multi_controller_manager_launch.py
index a927fdb6d..a78cfdc78 100644
--- a/example_15/test/test_multi_controller_manager_launch.py
+++ b/example_15/test/test_multi_controller_manager_launch.py
@@ -40,7 +40,6 @@
 
 # import launch_testing.markers
 import rclpy
-from rclpy.node import Node
 from ros2_control_demo_testing.test_utils import (
     check_controllers_running,
     check_if_js_published,
@@ -67,14 +66,19 @@ def generate_test_description():
 # This is our test fixture. Each method is a test case.
 # These run alongside the processes specified in generate_test_description()
 class TestFixture(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
 
     def setUp(self):
-        rclpy.init()
-        self.node = Node("test_node")
+        self.node = rclpy.create_node("test_node")
 
     def tearDown(self):
         self.node.destroy_node()
-        rclpy.shutdown()
 
     def test_node_start(self, proc_output):
         check_node_running(self.node, "robot_state_publisher")
diff --git a/example_15/test/test_rrbot_namespace_launch.py b/example_15/test/test_rrbot_namespace_launch.py
index a4e5dfb97..702be9d52 100644
--- a/example_15/test/test_rrbot_namespace_launch.py
+++ b/example_15/test/test_rrbot_namespace_launch.py
@@ -40,7 +40,6 @@
 
 # import launch_testing.markers
 import rclpy
-from rclpy.node import Node
 from ros2_control_demo_testing.test_utils import (
     check_controllers_running,
     check_if_js_published,
@@ -67,14 +66,19 @@ def generate_test_description():
 # This is our test fixture. Each method is a test case.
 # These run alongside the processes specified in generate_test_description()
 class TestFixture(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
 
     def setUp(self):
-        rclpy.init()
-        self.node = Node("test_node")
+        self.node = rclpy.create_node("test_node")
 
     def tearDown(self):
         self.node.destroy_node()
-        rclpy.shutdown()
 
     def test_node_start(self, proc_output):
         check_node_running(self.node, "robot_state_publisher")
diff --git a/example_2/test/test_diffbot_launch.py b/example_2/test/test_diffbot_launch.py
index 5f762872b..d84de296a 100644
--- a/example_2/test/test_diffbot_launch.py
+++ b/example_2/test/test_diffbot_launch.py
@@ -40,7 +40,6 @@
 
 # import launch_testing.markers
 import rclpy
-from rclpy.node import Node
 from ros2_control_demo_testing.test_utils import (
     check_controllers_running,
     check_if_js_published,
@@ -67,14 +66,19 @@ def generate_test_description():
 # This is our test fixture. Each method is a test case.
 # These run alongside the processes specified in generate_test_description()
 class TestFixture(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
 
     def setUp(self):
-        rclpy.init()
-        self.node = Node("test_node")
+        self.node = rclpy.create_node("test_node")
 
     def tearDown(self):
         self.node.destroy_node()
-        rclpy.shutdown()
 
     def test_node_start(self, proc_output):
         check_node_running(self.node, "robot_state_publisher")
diff --git a/example_3/test/test_rrbot_system_multi_interface_launch.py b/example_3/test/test_rrbot_system_multi_interface_launch.py
index 8f6394df2..9b5529654 100644
--- a/example_3/test/test_rrbot_system_multi_interface_launch.py
+++ b/example_3/test/test_rrbot_system_multi_interface_launch.py
@@ -40,7 +40,6 @@
 
 # import launch_testing.markers
 import rclpy
-from rclpy.node import Node
 from ros2_control_demo_testing.test_utils import (
     check_controllers_running,
     check_if_js_published,
@@ -67,14 +66,19 @@ def generate_test_description():
 # This is our test fixture. Each method is a test case.
 # These run alongside the processes specified in generate_test_description()
 class TestFixture(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
 
     def setUp(self):
-        rclpy.init()
-        self.node = Node("test_node")
+        self.node = rclpy.create_node("test_node")
 
     def tearDown(self):
         self.node.destroy_node()
-        rclpy.shutdown()
 
     def test_node_start(self, proc_output):
         check_node_running(self.node, "robot_state_publisher")
diff --git a/example_4/test/test_rrbot_system_with_sensor_launch.py b/example_4/test/test_rrbot_system_with_sensor_launch.py
index d9238acf2..9e5001654 100644
--- a/example_4/test/test_rrbot_system_with_sensor_launch.py
+++ b/example_4/test/test_rrbot_system_with_sensor_launch.py
@@ -40,7 +40,6 @@
 
 # import launch_testing.markers
 import rclpy
-from rclpy.node import Node
 from ros2_control_demo_testing.test_utils import (
     check_controllers_running,
     check_if_js_published,
@@ -67,14 +66,19 @@ def generate_test_description():
 # This is our test fixture. Each method is a test case.
 # These run alongside the processes specified in generate_test_description()
 class TestFixture(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
 
     def setUp(self):
-        rclpy.init()
-        self.node = Node("test_node")
+        self.node = rclpy.create_node("test_node")
 
     def tearDown(self):
         self.node.destroy_node()
-        rclpy.shutdown()
 
     def test_node_start(self, proc_output):
         check_node_running(self.node, "robot_state_publisher")
diff --git a/example_5/test/test_rrbot_system_with_external_sensor_launch.py b/example_5/test/test_rrbot_system_with_external_sensor_launch.py
index cce21b560..e965d5ace 100644
--- a/example_5/test/test_rrbot_system_with_external_sensor_launch.py
+++ b/example_5/test/test_rrbot_system_with_external_sensor_launch.py
@@ -40,7 +40,6 @@
 
 # import launch_testing.markers
 import rclpy
-from rclpy.node import Node
 from ros2_control_demo_testing.test_utils import (
     check_controllers_running,
     check_if_js_published,
@@ -67,14 +66,19 @@ def generate_test_description():
 # This is our test fixture. Each method is a test case.
 # These run alongside the processes specified in generate_test_description()
 class TestFixture(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
 
     def setUp(self):
-        rclpy.init()
-        self.node = Node("test_node")
+        self.node = rclpy.create_node("test_node")
 
     def tearDown(self):
         self.node.destroy_node()
-        rclpy.shutdown()
 
     def test_node_start(self, proc_output):
         check_node_running(self.node, "robot_state_publisher")
diff --git a/example_6/test/test_rrbot_modular_actuators_launch.py b/example_6/test/test_rrbot_modular_actuators_launch.py
index b48389713..3e8a5e9d4 100644
--- a/example_6/test/test_rrbot_modular_actuators_launch.py
+++ b/example_6/test/test_rrbot_modular_actuators_launch.py
@@ -40,7 +40,6 @@
 
 # import launch_testing.markers
 import rclpy
-from rclpy.node import Node
 from ros2_control_demo_testing.test_utils import (
     check_controllers_running,
     check_if_js_published,
@@ -67,14 +66,19 @@ def generate_test_description():
 # This is our test fixture. Each method is a test case.
 # These run alongside the processes specified in generate_test_description()
 class TestFixture(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
 
     def setUp(self):
-        rclpy.init()
-        self.node = Node("test_node")
+        self.node = rclpy.create_node("test_node")
 
     def tearDown(self):
         self.node.destroy_node()
-        rclpy.shutdown()
 
     def test_node_start(self, proc_output):
         check_node_running(self.node, "robot_state_publisher")
diff --git a/example_7/test/test_r6bot_controller_launch.py b/example_7/test/test_r6bot_controller_launch.py
index 42a731020..968f789f1 100644
--- a/example_7/test/test_r6bot_controller_launch.py
+++ b/example_7/test/test_r6bot_controller_launch.py
@@ -40,7 +40,6 @@
 
 # import launch_testing.markers
 import rclpy
-from rclpy.node import Node
 from ros2_control_demo_testing.test_utils import (
     check_controllers_running,
     check_if_js_published,
@@ -67,14 +66,19 @@ def generate_test_description():
 # This is our test fixture. Each method is a test case.
 # These run alongside the processes specified in generate_test_description()
 class TestFixture(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
 
     def setUp(self):
-        rclpy.init()
-        self.node = Node("test_node")
+        self.node = rclpy.create_node("test_node")
 
     def tearDown(self):
         self.node.destroy_node()
-        rclpy.shutdown()
 
     def test_node_start(self, proc_output):
         check_node_running(self.node, "robot_state_publisher")
diff --git a/example_8/test/test_rrbot_transmissions_system_position_only_launch.py b/example_8/test/test_rrbot_transmissions_system_position_only_launch.py
index 96ba7d3c9..a16f4d7a7 100644
--- a/example_8/test/test_rrbot_transmissions_system_position_only_launch.py
+++ b/example_8/test/test_rrbot_transmissions_system_position_only_launch.py
@@ -40,7 +40,6 @@
 
 # import launch_testing.markers
 import rclpy
-from rclpy.node import Node
 from ros2_control_demo_testing.test_utils import (
     check_controllers_running,
     check_if_js_published,
@@ -67,14 +66,19 @@ def generate_test_description():
 # This is our test fixture. Each method is a test case.
 # These run alongside the processes specified in generate_test_description()
 class TestFixture(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
 
     def setUp(self):
-        rclpy.init()
-        self.node = Node("test_node")
+        self.node = rclpy.create_node("test_node")
 
     def tearDown(self):
         self.node.destroy_node()
-        rclpy.shutdown()
 
     def test_node_start(self, proc_output):
         check_node_running(self.node, "robot_state_publisher")
diff --git a/example_9/test/test_rrbot_launch.py b/example_9/test/test_rrbot_launch.py
index fb2211e1e..6817f0e03 100644
--- a/example_9/test/test_rrbot_launch.py
+++ b/example_9/test/test_rrbot_launch.py
@@ -40,7 +40,6 @@
 
 # import launch_testing.markers
 import rclpy
-from rclpy.node import Node
 from ros2_control_demo_testing.test_utils import (
     check_controllers_running,
     check_if_js_published,
@@ -67,14 +66,19 @@ def generate_test_description():
 # This is our test fixture. Each method is a test case.
 # These run alongside the processes specified in generate_test_description()
 class TestFixture(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
 
     def setUp(self):
-        rclpy.init()
-        self.node = Node("test_node")
+        self.node = rclpy.create_node("test_node")
 
     def tearDown(self):
         self.node.destroy_node()
-        rclpy.shutdown()
 
     def test_node_start(self, proc_output):
         check_node_running(self.node, "robot_state_publisher")
diff --git a/ros2_control_demos.humble.repos b/ros2_control_demos.humble.repos
index 235d4ba4b..0293269ad 100644
--- a/ros2_control_demos.humble.repos
+++ b/ros2_control_demos.humble.repos
@@ -6,7 +6,7 @@ repositories:
   realtime_tools:
     type: git
     url: https://github.com/ros-controls/realtime_tools.git
-    version: master
+    version: humble
   ros2_control:
     type: git
     url: https://github.com/ros-controls/ros2_control.git