diff --git a/autoware_utils_testing/CMakeLists.txt b/autoware_utils_testing/CMakeLists.txt
index 1cc6667..fd10f95 100644
--- a/autoware_utils_testing/CMakeLists.txt
+++ b/autoware_utils_testing/CMakeLists.txt
@@ -10,7 +10,9 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
 
 if(BUILD_TESTING)
   file(GLOB_RECURSE test_files test/*.cpp)
-  ament_auto_add_gtest(test_${PROJECT_NAME} ${test_files})
+  ament_add_ros_isolated_gtest(test_${PROJECT_NAME} ${test_files})
+  ament_target_dependencies(test_${PROJECT_NAME} std_msgs)
+  target_link_libraries(test_${PROJECT_NAME} ${PROJECT_NAME})
 endif()
 
 ament_auto_package()
diff --git a/autoware_utils_testing/README.md b/autoware_utils_testing/README.md
index a38880a..e75f030 100644
--- a/autoware_utils_testing/README.md
+++ b/autoware_utils_testing/README.md
@@ -1,11 +1,19 @@
 # autoware_utils_testing
 
+## Notice
+
+**This package is under construction. All interfaces currently provided are unstable.**
+
 ## Overview
 
 The **autoware_utils** library is a comprehensive toolkit designed to facilitate the development of autonomous driving applications.
-This package provides essential utilities for visualization.
-It is extensively used in the Autoware project to handle common tasks such as creating markers for RViz.
+This package provides essential utilities for testing.
+It is extensively used in the Autoware project to handle common tasks such as handling executor and mock node.
 
-## Design
+## Usage Example
 
-- **`marker_helper.hpp`**: Helper functions for creating and manipulating visualization markers.
+- See [test/main.cpp](./test/main.cpp)
+  - `gtest/ros_env.hpp`
+- See [test/cases/mock_node.cpp](./test/cases/mock_node.cpp)
+  - `mock_node.hpp`
+  - `spin_thread.hpp`
diff --git a/autoware_utils_testing/package.xml b/autoware_utils_testing/package.xml
index df1f17e..b32dc41 100644
--- a/autoware_utils_testing/package.xml
+++ b/autoware_utils_testing/package.xml
@@ -13,8 +13,10 @@
   <depend>gtest_vendor</depend>
   <depend>rclcpp</depend>
 
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
+  <test_depend>std_msgs</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/autoware_utils_testing/test/cases/mock_node.cpp b/autoware_utils_testing/test/cases/mock_node.cpp
new file mode 100644
index 0000000..1d48cf3
--- /dev/null
+++ b/autoware_utils_testing/test/cases/mock_node.cpp
@@ -0,0 +1,56 @@
+// Copyright 2025 The Autoware Contributors
+//
+// 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 <autoware_utils_testing/mock_node.hpp>
+#include <autoware_utils_testing/spin_thread.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+#include <std_msgs/msg/int32.hpp>
+#include <std_msgs/msg/string.hpp>
+
+#include <gtest/gtest.h>
+
+#include <memory>
+#include <thread>
+
+TEST(TestDebugPublisher, Main)
+{
+  const auto mock = std::make_shared<autoware_utils_testing::MockNode>("mock_node");
+  const auto node = std::make_shared<rclcpp::Node>("test_node");
+
+  auto pub1 = node->create_publisher<std_msgs::msg::Int32>("/test/foo", rclcpp::QoS(1));
+  auto pub2 = node->create_publisher<std_msgs::msg::String>("/test/bar", rclcpp::QoS(1));
+  auto sub1 = mock->sub<std_msgs::msg::Int32>("/test/foo", rclcpp::QoS(1));
+  auto sub2 = mock->sub<std_msgs::msg::String>("/test/bar", rclcpp::QoS(1));
+
+  autoware_utils_testing::SpinThread thread;
+  thread.add_node(mock);
+  thread.add_node(node);
+  thread.start();
+  pub1->publish(std_msgs::build<std_msgs::msg::Int32>().data(123));
+  pub2->publish(std_msgs::build<std_msgs::msg::String>().data("hello"));
+  std::this_thread::sleep_for(std::chrono::milliseconds(10));
+  pub1->publish(std_msgs::build<std_msgs::msg::Int32>().data(456));
+  pub2->publish(std_msgs::build<std_msgs::msg::String>().data("world"));
+  std::this_thread::sleep_for(std::chrono::milliseconds(10));
+  thread.stop();
+
+  EXPECT_EQ(sub1->data.size(), 2);
+  EXPECT_EQ(sub1->data[0].data, 123);
+  EXPECT_EQ(sub1->data[1].data, 456);
+
+  EXPECT_EQ(sub2->data.size(), 2);
+  EXPECT_EQ(sub2->data[0].data, "hello");
+  EXPECT_EQ(sub2->data[1].data, "world");
+}
diff --git a/autoware_utils_testing/test/main.cpp b/autoware_utils_testing/test/main.cpp
index 7c283b2..eb8f344 100644
--- a/autoware_utils_testing/test/main.cpp
+++ b/autoware_utils_testing/test/main.cpp
@@ -12,10 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <gtest/gtest.h>
+#include <autoware_utils_testing/gtest/ros_env.hpp>
 
 int main(int argc, char ** argv)
 {
   testing::InitGoogleTest(&argc, argv);
+  testing::AddGlobalTestEnvironment(autoware_utils_testing::gtest::ros_env(argc, argv));
   return RUN_ALL_TESTS();
 }