diff --git a/dsr_agents/CMakeLists.txt b/dsr_agents/CMakeLists.txt
index ccaa54e..90b73f3 100644
--- a/dsr_agents/CMakeLists.txt
+++ b/dsr_agents/CMakeLists.txt
@@ -226,6 +226,8 @@ if(BUILD_TESTING)
   # the following line skips the linter which checks for copyrights
   set(ament_cmake_copyright_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
+
+  add_subdirectory(test)
 endif()
 
 # Export old-style CMake variables
diff --git a/dsr_agents/include/dsr_agents/tf_agent.hpp b/dsr_agents/include/dsr_agents/tf_agent.hpp
index bdd43f5..5d3188c 100644
--- a/dsr_agents/include/dsr_agents/tf_agent.hpp
+++ b/dsr_agents/include/dsr_agents/tf_agent.hpp
@@ -45,7 +45,7 @@ class TFAgent : public dsr_util::AgentNode
    */
   explicit TFAgent(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
 
-private:
+protected:
   /**
    * @brief Callback to receive TF messages from ROS 2.
    *
diff --git a/dsr_agents/src/docking_agent_node.cpp b/dsr_agents/src/docking_agent_node.cpp
index 1f7b683..0c4a5ef 100644
--- a/dsr_agents/src/docking_agent_node.cpp
+++ b/dsr_agents/src/docking_agent_node.cpp
@@ -19,6 +19,7 @@
 #include "dsr_util/qt_executor.hpp"
 #include "dsr_agents/docking_agent.hpp"
 
+// LCOV_EXCL_START
 int main(int argc, char ** argv)
 {
   QCoreApplication app(argc, argv);
@@ -34,3 +35,4 @@ int main(int argc, char ** argv)
   rclcpp::shutdown();
   return res;
 }
+// LCOV_EXCL_STOP
diff --git a/dsr_agents/src/nav_agent_node.cpp b/dsr_agents/src/nav_agent_node.cpp
index ad33535..036365b 100644
--- a/dsr_agents/src/nav_agent_node.cpp
+++ b/dsr_agents/src/nav_agent_node.cpp
@@ -19,6 +19,7 @@
 #include "dsr_util/qt_executor.hpp"
 #include "dsr_agents/nav_agent.hpp"
 
+// LCOV_EXCL_START
 int main(int argc, char ** argv)
 {
   QCoreApplication app(argc, argv);
@@ -34,3 +35,4 @@ int main(int argc, char ** argv)
   rclcpp::shutdown();
   return res;
 }
+// LCOV_EXCL_STOP
diff --git a/dsr_agents/src/tf_agent_node.cpp b/dsr_agents/src/tf_agent_node.cpp
index 04f8d08..ce8c90b 100644
--- a/dsr_agents/src/tf_agent_node.cpp
+++ b/dsr_agents/src/tf_agent_node.cpp
@@ -19,6 +19,7 @@
 #include "dsr_util/qt_executor.hpp"
 #include "dsr_agents/tf_agent.hpp"
 
+// LCOV_EXCL_START
 int main(int argc, char ** argv)
 {
   QCoreApplication app(argc, argv);
@@ -34,3 +35,4 @@ int main(int argc, char ** argv)
   rclcpp::shutdown();
   return res;
 }
+// LCOV_EXCL_STOP
diff --git a/dsr_agents/src/topic_agent_node.cpp b/dsr_agents/src/topic_agent_node.cpp
index 033cde4..276682a 100644
--- a/dsr_agents/src/topic_agent_node.cpp
+++ b/dsr_agents/src/topic_agent_node.cpp
@@ -19,6 +19,7 @@
 #include "dsr_util/qt_executor.hpp"
 #include "dsr_agents/topic_agent.hpp"
 
+// LCOV_EXCL_START
 int main(int argc, char ** argv)
 {
   QCoreApplication app(argc, argv);
@@ -34,3 +35,4 @@ int main(int argc, char ** argv)
   rclcpp::shutdown();
   return res;
 }
+// LCOV_EXCL_STOP
diff --git a/dsr_agents/test/CMakeLists.txt b/dsr_agents/test/CMakeLists.txt
new file mode 100644
index 0000000..c01784b
--- /dev/null
+++ b/dsr_agents/test/CMakeLists.txt
@@ -0,0 +1,10 @@
+find_package(dsr_util REQUIRED)
+
+# Test for tf agent node
+ament_add_gtest(test_tf_agent test_tf_agent.cpp)
+target_link_libraries(test_tf_agent
+
+  ${fastrtps_LIBRARIES}
+  tf_agent
+  ament_index_cpp::ament_index_cpp
+)
diff --git a/dsr_agents/test/test_tf_agent.cpp b/dsr_agents/test/test_tf_agent.cpp
new file mode 100644
index 0000000..97c071b
--- /dev/null
+++ b/dsr_agents/test/test_tf_agent.cpp
@@ -0,0 +1,53 @@
+// Copyright (c) 2024 Alberto J. Tudela Roldán
+// Copyright (c) 2024 Grupo Avispa, DTE, Universidad de Málaga
+//
+// 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 "gtest/gtest.h"
+#include "dsr_agents/tf_agent.hpp"
+#include "dsr_util/utils/test_dsr_setup.hpp"
+#include "lifecycle_msgs/msg/state.hpp"
+
+class TFAgentFixture : public dsr_agents::TFAgent
+{
+public:
+  TFAgentFixture()
+  : dsr_agents::TFAgent()
+  {
+  }
+  ~TFAgentFixture() = default;
+};
+
+TEST_F(DsrUtilTest, tfAgentConfigure) {
+  // Create the node
+  auto agent_node = std::make_shared<TFAgentFixture>();
+  agent_node->declare_parameter("dsr_input_file", rclcpp::ParameterValue(test_file_));
+
+  const auto state_after_configure = agent_node->configure();
+  ASSERT_EQ(state_after_configure.id(), lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);
+
+  agent_node->activate();
+  agent_node->deactivate();
+  agent_node->cleanup();
+  agent_node->shutdown();
+}
+
+int main(int argc, char ** argv)
+{
+  QCoreApplication app(argc, argv);
+  testing::InitGoogleTest(&argc, argv);
+  rclcpp::init(argc, argv);
+  bool success = RUN_ALL_TESTS();
+  rclcpp::shutdown();
+  return success;
+}
diff --git a/dsr_util/CMakeLists.txt b/dsr_util/CMakeLists.txt
index 49dfe1c..1c68ca1 100644
--- a/dsr_util/CMakeLists.txt
+++ b/dsr_util/CMakeLists.txt
@@ -124,10 +124,14 @@ install(DIRECTORY worlds
   DESTINATION share/${PROJECT_NAME}/
 )
 
-install(FILES test/test_dsr.json
+install(FILES test/utils/test_dsr.json
   DESTINATION share/${PROJECT_NAME}/test
 )
 
+install(DIRECTORY test/utils/
+  DESTINATION include/${PROJECT_NAME}/${PROJECT_NAME}/utils
+)
+
 # ###########
 # Testing  ##
 # ###########
diff --git a/dsr_util/test/test_agent_node.cpp b/dsr_util/test/test_agent_node.cpp
index a565b98..41b2165 100644
--- a/dsr_util/test/test_agent_node.cpp
+++ b/dsr_util/test/test_agent_node.cpp
@@ -17,7 +17,7 @@
 #include "dsr_util/agent_node.hpp"
 #include "lifecycle_msgs/msg/state.hpp"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
-#include "test_dsr_setup.hpp"
+#include "utils/test_dsr_setup.hpp"
 
 class AgentNodeFixture : public dsr_util::AgentNode
 {
diff --git a/dsr_util/test/test_dsr_api_ext.cpp b/dsr_util/test/test_dsr_api_ext.cpp
index b0efba7..d99607d 100644
--- a/dsr_util/test/test_dsr_api_ext.cpp
+++ b/dsr_util/test/test_dsr_api_ext.cpp
@@ -14,7 +14,7 @@
 // limitations under the License.
 
 #include "gtest/gtest.h"
-#include "test_dsr_setup.hpp"
+#include "utils/test_dsr_setup.hpp"
 
 TEST_F(DsrUtilTest, apiExtCreateNodeWithPriority) {
   auto node = G_->create_node_with_priority<robot_node_type>("test_node", 5, "test_source");
diff --git a/dsr_util/test/test_dsr.json b/dsr_util/test/utils/test_dsr.json
similarity index 100%
rename from dsr_util/test/test_dsr.json
rename to dsr_util/test/utils/test_dsr.json
diff --git a/dsr_util/test/test_dsr_setup.hpp b/dsr_util/test/utils/test_dsr_setup.hpp
similarity index 95%
rename from dsr_util/test/test_dsr_setup.hpp
rename to dsr_util/test/utils/test_dsr_setup.hpp
index ced6553..9c14e36 100644
--- a/dsr_util/test/test_dsr_setup.hpp
+++ b/dsr_util/test/utils/test_dsr_setup.hpp
@@ -22,8 +22,8 @@
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include "dsr_util/dsr_api_ext.hpp"
 
-#ifndef TEST_DSR_SETUP_HPP_
-#define TEST_DSR_SETUP_HPP_
+#ifndef UTILS__TEST_DSR_SETUP_HPP_
+#define UTILS__TEST_DSR_SETUP_HPP_
 
 class DSRGraphExtFixture : public dsr_util::DSRGraphExt
 {
@@ -72,4 +72,4 @@ class DsrUtilTest : public ::testing::Test
   std::string test_file_;
 };
 
-#endif  // TEST_DSR_SETUP_HPP_
+#endif  // UTILS__TEST_DSR_SETUP_HPP_