diff --git a/Turtlebot3_ws/src/infra/test/test_failure.py b/Turtlebot3_ws/src/infra/test/test_failure.py
new file mode 100644
index 0000000..e3ae0c2
--- /dev/null
+++ b/Turtlebot3_ws/src/infra/test/test_failure.py
@@ -0,0 +1,16 @@
+import pytest
+import subprocess
+import time
+
+@pytest.fixture(scope="session")
+def ros_launch(request):
+    process = subprocess.Popen(['ros2', 'launch', 'infra', 'initialization_failure.launch.py'], stdout=subprocess.PIPE, stderr=subprocess.PIPE, universal_newlines=True)
+    yield process
+    process.terminate()
+    process.wait()
+
+def test_check_output(ros_launch):
+    msg = 'Goal failed'
+    time.sleep(200)  # Adjust the sleep time as needed
+    stdout, stderr = ros_launch.communicate()
+    assert msg in stdout, f"Expected '{msg}' not found in the output."
diff --git a/Turtlebot3_ws/src/infra/test/test_success.py b/Turtlebot3_ws/src/infra/test/test_success.py
new file mode 100644
index 0000000..93c91c2
--- /dev/null
+++ b/Turtlebot3_ws/src/infra/test/test_success.py
@@ -0,0 +1,16 @@
+import pytest
+import subprocess
+import time
+
+@pytest.fixture(scope="session")
+def ros_launch(request):
+    process = subprocess.Popen(['ros2', 'launch', 'infra', 'initialization_success.launch.py'], stdout=subprocess.PIPE, stderr=subprocess.PIPE, universal_newlines=True)
+    yield process
+    process.terminate()
+    process.wait()
+
+def test_check_output(ros_launch):
+    msg = 'Goal succeeded'
+    time.sleep(200)  # Adjust the sleep time as needed
+    stdout, stderr = ros_launch.communicate()
+    assert msg in stdout, f"Expected '{msg}' not found in the output."
diff --git a/Turtlebot3_ws/src/infra/test/test_trial.py b/Turtlebot3_ws/src/infra/test/test_trial.py
deleted file mode 100644
index b949110..0000000
--- a/Turtlebot3_ws/src/infra/test/test_trial.py
+++ /dev/null
@@ -1,61 +0,0 @@
-import os
-import sys
-import unittest
-import rclpy
-import ament_index_python
-import signal
-import launch
-import launch.actions
-import time
-
-import launch_testing
-import launch_testing.actions
-from launch_testing.asserts import assertSequentialStdout
-from launch_testing.tools import TimerAction
-
-import pytest
-
-
-@pytest.mark.rostest
-def generate_test_description():
-    file_path = os.path.dirname(__file__)
-
-    # This is necessary to get unbuffered output from the process under test
-    proc_env = os.environ.copy()
-    proc_env['PYTHONUNBUFFERED'] = '1'
-
-    dut_process = launch.actions.ExecuteProcess(
-        cmd=['ros2', 'launch', 'infra', 'initialization_success.launch.py'],
-        env=proc_env, output='screen'
-    )
-
-    # Set up a timer to send Ctrl+C to the process after 150 seconds
-    ctrl_c_timer = TimerAction(
-        actions=[
-            launch.actions.EmitEvent(event=launch.events.Shutdown()),
-            launch.actions.LogInfo(msg="Sent Ctrl+C signal to the process after 150 seconds.")
-        ],
-        period=150.0
-    )
-
-    return launch.LaunchDescription([
-        dut_process,
-
-        # Start tests right away - no need to wait for anything
-        launch_testing.actions.ReadyToTest(),
-        ctrl_c_timer
-    ]), {'dut_process': dut_process}
-
-
-# These tests will run concurrently with the dut process.  After all these tests are done,
-# the launch system will shut down the processes that it started up
-class TestGoodProcess(unittest.TestCase):
-    @classmethod
-    def setUpClass(cls):
-        rclpy.init()
-    @classmethod
-    def tearDownClass(cls):
-        rclpy.shutdown()
-    def test_count_to_four(self, proc_output):
-        msg = 'Goal succeeded'
-        proc_output.assertWaitFor(msg, timeout=150, stream='stdout')
diff --git a/Turtlebot3_ws/src/infra/test/test_trial_2.py b/Turtlebot3_ws/src/infra/test/test_trial_2.py
deleted file mode 100644
index 35d62c3..0000000
--- a/Turtlebot3_ws/src/infra/test/test_trial_2.py
+++ /dev/null
@@ -1,61 +0,0 @@
-import os
-import sys
-import unittest
-import rclpy
-import ament_index_python
-import signal
-import launch
-import launch.actions
-import time
-
-import launch_testing
-import launch_testing.actions
-from launch_testing.asserts import assertSequentialStdout
-from launch_testing.tools import TimerAction
-
-import pytest
-
-
-@pytest.mark.rostest
-def generate_test_description():
-    file_path = os.path.dirname(__file__)
-
-    # This is necessary to get unbuffered output from the process under test
-    proc_env = os.environ.copy()
-    proc_env['PYTHONUNBUFFERED'] = '1'
-
-    dut_process = launch.actions.ExecuteProcess(
-        cmd=['ros2', 'launch', 'infra', 'initialization_failure.launch.py'],
-        env=proc_env, output='screen'
-    )
-
-    # Set up a timer to send Ctrl+C to the process after 150 seconds
-    ctrl_c_timer = TimerAction(
-        actions=[
-            launch.actions.EmitEvent(event=launch.events.Shutdown()),
-            launch.actions.LogInfo(msg="Sent Ctrl+C signal to the process after 150 seconds.")
-        ],
-        period=150.0
-    )
-
-    return launch.LaunchDescription([
-        dut_process,
-
-        # Start tests right away - no need to wait for anything
-        launch_testing.actions.ReadyToTest(),
-        ctrl_c_timer
-    ]), {'dut_process': dut_process}
-
-
-# These tests will run concurrently with the dut process.  After all these tests are done,
-# the launch system will shut down the processes that it started up
-class TestGoodProcess(unittest.TestCase):
-    @classmethod
-    def setUpClass(cls):
-        rclpy.init()
-    @classmethod
-    def tearDownClass(cls):
-        rclpy.shutdown()
-    def test_count_to_four(self, proc_output):
-        msg = 'Goal failed'
-        proc_output.assertWaitFor(msg, timeout=150, stream='stdout')