diff --git a/perception/simple_object_merger/CMakeLists.txt b/perception/simple_object_merger/CMakeLists.txt
index 46dc48fd9fd3a..71f8d7c668093 100644
--- a/perception/simple_object_merger/CMakeLists.txt
+++ b/perception/simple_object_merger/CMakeLists.txt
@@ -17,8 +17,12 @@ rclcpp_components_register_node(simple_object_merger_node_component
 
 # Tests
 if(BUILD_TESTING)
-  ament_auto_add_gtest(simple_object_merger_tests
-    test/test_simple_object_merger_node.cpp
+  file(GLOB_RECURSE test_files test/*.cpp)
+
+  ament_add_ros_isolated_gtest(test_simple_object_merger_node ${test_files})
+
+  target_link_libraries(test_simple_object_merger_node
+    simple_object_merger_node_component
   )
 endif()
 
diff --git a/perception/simple_object_merger/package.xml b/perception/simple_object_merger/package.xml
index 5d12721b42797..1f65c3afdc5d3 100644
--- a/perception/simple_object_merger/package.xml
+++ b/perception/simple_object_merger/package.xml
@@ -12,6 +12,7 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
+  <depend>ament_cmake_ros</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_test_utils</depend>
   <depend>autoware_universe_utils</depend>