diff --git a/common/tensorrt_common/CMakeLists.txt b/common/tensorrt_common/CMakeLists.txt
index cb24448f1a993..80b101e2afef4 100644
--- a/common/tensorrt_common/CMakeLists.txt
+++ b/common/tensorrt_common/CMakeLists.txt
@@ -16,6 +16,45 @@ if(NOT (CUDAToolkit_FOUND AND CUDNN_FOUND AND TENSORRT_FOUND))
   return()
 endif()
 
+# Download onnx
+set(DATA_PATH "${CMAKE_CURRENT_SOURCE_DIR}/data")
+if(NOT EXISTS "${DATA_PATH}")
+  execute_process(COMMAND mkdir -p ${DATA_PATH})
+endif()
+function(download FILE_NAME FILE_HASH)
+  message(STATUS "Checking and downloading ${FILE_NAME}")
+  set(FILE_PATH ${DATA_PATH}/${FILE_NAME})
+  set(STATUS_CODE 0)
+  message(STATUS "start ${FILE_NAME}")
+  if(EXISTS ${FILE_PATH})
+    message(STATUS "found ${FILE_NAME}")
+    file(MD5 ${FILE_PATH} EXISTING_FILE_HASH)
+    if(${FILE_HASH} STREQUAL ${EXISTING_FILE_HASH})
+      message(STATUS "same ${FILE_NAME}")
+      message(STATUS "File already exists.")
+    else()
+      message(STATUS "diff ${FILE_NAME}")
+      message(STATUS "File hash changes. Downloading now ...")
+      file(DOWNLOAD https://awf.ml.dev.web.auto/perception/models/${FILE_NAME} ${FILE_PATH} STATUS DOWNLOAD_STATUS TIMEOUT 3600)
+      list(GET DOWNLOAD_STATUS 0 STATUS_CODE)
+      list(GET DOWNLOAD_STATUS 1 ERROR_MESSAGE)
+    endif()
+  else()
+    message(STATUS "not found ${FILE_NAME}")
+    message(STATUS "File doesn't exists. Downloading now ...")
+    file(DOWNLOAD https://awf.ml.dev.web.auto/perception/models/${FILE_NAME} ${FILE_PATH} STATUS DOWNLOAD_STATUS TIMEOUT 3600)
+    list(GET DOWNLOAD_STATUS 0 STATUS_CODE)
+    list(GET DOWNLOAD_STATUS 1 ERROR_MESSAGE)
+  endif()
+  if(${STATUS_CODE} EQUAL 0)
+    message(STATUS "Download completed successfully!")
+  else()
+    message(FATAL_ERROR "Error occurred during download: ${ERROR_MESSAGE}")
+  endif()
+endfunction()
+
+download(yolov5s.onnx 646b295db6089597e79163446d6eedca)
+
 add_library(${PROJECT_NAME} SHARED
   src/tensorrt_common.cpp
   src/simple_profiler.cpp
@@ -61,6 +100,11 @@ if(BUILD_TESTING)
   set(ament_cmake_uncrustify_FOUND TRUE)
 
   ament_lint_auto_find_test_dependencies()
+
+  file(GLOB_RECURSE test_files test/*.cpp)
+  ament_add_ros_isolated_gtest(test_tensorrt_common ${test_files})
+  target_link_libraries(test_tensorrt_common ${PROJECT_NAME})
+
 endif()
 
 install(TARGETS ${PROJECT_NAME} EXPORT export_${PROJECT_NAME})
diff --git a/common/tensorrt_common/package.xml b/common/tensorrt_common/package.xml
index 7d3995f93f7fe..196af86f4541a 100644
--- a/common/tensorrt_common/package.xml
+++ b/common/tensorrt_common/package.xml
@@ -18,6 +18,7 @@
 
   <depend>rclcpp</depend>
 
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
diff --git a/common/tensorrt_common/test/test_tensorrt_common.cpp b/common/tensorrt_common/test/test_tensorrt_common.cpp
new file mode 100644
index 0000000000000..3b60ed84c8c08
--- /dev/null
+++ b/common/tensorrt_common/test/test_tensorrt_common.cpp
@@ -0,0 +1,43 @@
+// Copyright 2023 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 "tensorrt_common/tensorrt_common.hpp"
+
+#include <gtest/gtest.h>
+
+// test get_input_dims function
+TEST(TrtCommonTest, TestGetInputDims)
+{
+  std::string onnx_file_path =
+    "src/universe/autoware.universe/common/tensorrt_common/data/yolov5s.onnx";
+  nvinfer1::Dims input_dims = tensorrt_common::get_input_dims(onnx_file_path);
+  ASSERT_GT(input_dims.nbDims, 0);
+}
+
+// test is_valid_precision_string function
+TEST(TrtCommonTest, TestIsValidPrecisionString)
+{
+  std::string valid_precision = "fp16";
+  std::string invalid_precision = "invalid_precision";
+  ASSERT_TRUE(tensorrt_common::is_valid_precision_string(valid_precision));
+  ASSERT_FALSE(tensorrt_common::is_valid_precision_string(invalid_precision));
+}
+
+// In the future, more test cases will be written to test the functionality of TrtCommon class
+
+int main(int argc, char * argv[])
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}