diff --git a/perception/autoware_cluster_merger/CMakeLists.txt b/perception/autoware_cluster_merger/CMakeLists.txt
index ce666be317d6c..13ea807104c32 100644
--- a/perception/autoware_cluster_merger/CMakeLists.txt
+++ b/perception/autoware_cluster_merger/CMakeLists.txt
@@ -19,6 +19,9 @@ if(BUILD_TESTING)
   list(APPEND AMENT_LINT_AUTO_EXCLUDE ament_cmake_uncrustify)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
+  ament_auto_add_gtest(cluster_merger_tests
+    test/test_cluster_merger.cpp
+  )
 endif()
 
 ament_auto_package(
diff --git a/perception/autoware_cluster_merger/package.xml b/perception/autoware_cluster_merger/package.xml
index 41bcdb27b1387..879cf1da2a565 100644
--- a/perception/autoware_cluster_merger/package.xml
+++ b/perception/autoware_cluster_merger/package.xml
@@ -12,6 +12,7 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
+  <depend>autoware_test_utils</depend>
   <depend>autoware_universe_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>message_filters</depend>
diff --git a/perception/autoware_cluster_merger/test/test_cluster_merger.cpp b/perception/autoware_cluster_merger/test/test_cluster_merger.cpp
new file mode 100644
index 0000000000000..d530832659a2f
--- /dev/null
+++ b/perception/autoware_cluster_merger/test/test_cluster_merger.cpp
@@ -0,0 +1,163 @@
+// Copyright 2024 TIER IV, 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.
+
+#include "../src/cluster_merger_node.hpp"
+
+#include <ament_index_cpp/get_package_share_directory.hpp>
+#include <autoware_test_utils/autoware_test_utils.hpp>
+
+#include <gtest/gtest.h>
+
+#include <vector>
+
+using autoware::cluster_merger::ClusterMergerNode;
+using tier4_perception_msgs::msg::DetectedObjectsWithFeature;
+using tier4_perception_msgs::msg::DetectedObjectWithFeature;
+
+std::shared_ptr<autoware::test_utils::AutowareTestManager> generateTestManager()
+{
+  auto test_manager = std::make_shared<autoware::test_utils::AutowareTestManager>();
+  return test_manager;
+}
+
+std::shared_ptr<ClusterMergerNode> generateNode()
+{
+  auto node_options = rclcpp::NodeOptions{};
+  const auto detected_object_validation_dir =
+    ament_index_cpp::get_package_share_directory("autoware_cluster_merger");
+  node_options.arguments(
+    {"--ros-args", "--params-file",
+     detected_object_validation_dir + "/config/cluster_merger.param.yaml"});
+  return std::make_shared<ClusterMergerNode>(node_options);
+}
+
+TEST(ClusterMergerTest, testClusterMergerEmptyObject)
+{
+  rclcpp::init(0, nullptr);
+  const std::string input_cluster0 = "/input/cluster0";
+  const std::string input_cluster1 = "/input/cluster1";
+  const std::string output_cluster = "/output/clusters";
+  auto test_manager = generateTestManager();
+  auto test_target_node = generateNode();
+
+  int counter = 0;
+  auto callback = [&counter](const DetectedObjectsWithFeature::ConstSharedPtr msg) {
+    (void)msg;
+    ++counter;
+  };
+  test_manager->set_subscriber<DetectedObjectsWithFeature>(output_cluster, callback);
+
+  DetectedObjectsWithFeature msg0;
+  DetectedObjectsWithFeature msg1;
+  msg0.header.frame_id = "base_link";
+  msg1.header.frame_id = "base_link";
+
+  test_manager->test_pub_msg<DetectedObjectsWithFeature>(test_target_node, input_cluster0, msg0);
+  test_manager->test_pub_msg<DetectedObjectsWithFeature>(test_target_node, input_cluster1, msg1);
+
+  EXPECT_EQ(counter, 1);
+
+  rclcpp::shutdown();
+}
+
+TEST(ClusterMergerTest, testClusterMergerEmptyWithNotEmpty)
+{
+  rclcpp::init(0, nullptr);
+  const std::string input_cluster0 = "/input/cluster0";
+  const std::string input_cluster1 = "/input/cluster1";
+  const std::string output_cluster = "/output/clusters";
+  auto test_manager = generateTestManager();
+  auto test_target_node = generateNode();
+
+  DetectedObjectsWithFeature msg0;
+  DetectedObjectsWithFeature msg1;
+  msg0.header.frame_id = "base_link";
+  msg1.header.frame_id = "base_link";
+  // Create object for cluster 1
+  {
+    DetectedObjectWithFeature feature_obj;
+
+    feature_obj.object.kinematics.pose_with_covariance.pose.position.x = 10.0;
+    feature_obj.object.kinematics.pose_with_covariance.pose.position.y = 5.0;
+    feature_obj.object.existence_probability = 1.0f;
+    feature_obj.object.classification.resize(1);
+    msg1.feature_objects.push_back(feature_obj);
+  }
+
+  DetectedObjectsWithFeature latest_msg;
+  auto callback = [&latest_msg](const DetectedObjectsWithFeature::ConstSharedPtr msg) {
+    latest_msg = *msg;
+  };
+  test_manager->set_subscriber<DetectedObjectsWithFeature>(output_cluster, callback);
+  test_manager->test_pub_msg<DetectedObjectsWithFeature>(test_target_node, input_cluster0, msg0);
+  test_manager->test_pub_msg<DetectedObjectsWithFeature>(test_target_node, input_cluster1, msg1);
+  EXPECT_EQ(latest_msg.feature_objects.size(), 1);
+  rclcpp::shutdown();
+}
+
+TEST(ClusterMergerTest, testClusterMergerNotEmptyWithNotEmpty)
+{
+  rclcpp::init(0, nullptr);
+  const std::string input_cluster0 = "/input/cluster0";
+  const std::string input_cluster1 = "/input/cluster1";
+  const std::string output_cluster = "/output/clusters";
+  auto test_manager = generateTestManager();
+  auto test_target_node = generateNode();
+
+  DetectedObjectsWithFeature msg0;
+  DetectedObjectsWithFeature msg1;
+  msg0.header.frame_id = "base_link";
+  msg1.header.frame_id = "base_link";
+  // create objects for cluster0
+
+  {
+    DetectedObjectWithFeature feature_obj00;
+
+    feature_obj00.object.kinematics.pose_with_covariance.pose.position.x = 10.0;
+    feature_obj00.object.kinematics.pose_with_covariance.pose.position.y = 5.0;
+    feature_obj00.object.existence_probability = 1.0f;
+    feature_obj00.object.classification.resize(1);
+    msg0.feature_objects.push_back(feature_obj00);
+  }
+  {
+    DetectedObjectWithFeature feature_obj01;
+
+    feature_obj01.object.kinematics.pose_with_covariance.pose.position.x = 10.0;
+    feature_obj01.object.kinematics.pose_with_covariance.pose.position.y = 5.0;
+    feature_obj01.object.existence_probability = 1.0f;
+    feature_obj01.object.classification.resize(1);
+    msg0.feature_objects.push_back(feature_obj01);
+  }
+
+  // Create object for cluster 1
+  {
+    DetectedObjectWithFeature feature_obj10;
+
+    feature_obj10.object.kinematics.pose_with_covariance.pose.position.x = 10.0;
+    feature_obj10.object.kinematics.pose_with_covariance.pose.position.y = 5.0;
+    feature_obj10.object.existence_probability = 1.0f;
+    feature_obj10.object.classification.resize(1);
+    msg1.feature_objects.push_back(feature_obj10);
+  }
+
+  DetectedObjectsWithFeature latest_msg;
+  auto callback = [&latest_msg](const DetectedObjectsWithFeature::ConstSharedPtr msg) {
+    latest_msg = *msg;
+  };
+  test_manager->set_subscriber<DetectedObjectsWithFeature>(output_cluster, callback);
+  test_manager->test_pub_msg<DetectedObjectsWithFeature>(test_target_node, input_cluster0, msg0);
+  test_manager->test_pub_msg<DetectedObjectsWithFeature>(test_target_node, input_cluster1, msg1);
+  EXPECT_EQ(latest_msg.feature_objects.size(), 3);
+  rclcpp::shutdown();
+}