diff --git a/composition/CMakeLists.txt b/composition/CMakeLists.txt
index cd985ef7e..590bcad50 100644
--- a/composition/CMakeLists.txt
+++ b/composition/CMakeLists.txt
@@ -170,6 +170,9 @@ if(BUILD_TESTING)
       "test_dlopen_composition"
       "test_linktime_composition"
       "test_manual_composition"
+      "test_api_pubsub_composition"
+      "test_api_srv_composition_client_first"
+      "test_api_srv_composition"
     )
     foreach(test_name IN LISTS test_names)
       configure_file(
diff --git a/composition/test/test_api_pubsub_composition.py.in b/composition/test/test_api_pubsub_composition.py.in
index de1c30f27..5c537f8f8 100644
--- a/composition/test/test_api_pubsub_composition.py.in
+++ b/composition/test/test_api_pubsub_composition.py.in
@@ -15,7 +15,8 @@
 import unittest
 
 from launch import LaunchDescription
-from launch.actions import ExecuteProcess
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
 
 import launch_testing
 import launch_testing.actions
@@ -25,30 +26,22 @@ import launch_testing_ros
 
 def generate_test_description():
     launch_description = LaunchDescription()
-    process_under_test = ExecuteProcess(
-        cmd=['@API_COMPOSITION_EXECUTABLE@'],
+    process_under_test = ComposableNodeContainer(
         name='test_api_composition',
+        namespace='',
+        package='rclcpp_components',
+        executable='component_container',
+        composable_node_descriptions=[
+            ComposableNode(
+                package='composition',
+                plugin='composition::Talker'),
+            ComposableNode(
+                package='composition',
+                plugin='composition::Listener'),
+        ],
         output='screen'
     )
     launch_description.add_action(process_under_test)
-    launch_description.add_action(
-        ExecuteProcess(
-            cmd=[
-                '@API_COMPOSITION_CLI_EXECUTABLE@',
-                'composition', 'composition::Talker'
-            ],
-            name='load_talker_component'
-        )
-    )
-    launch_description.add_action(
-        ExecuteProcess(
-            cmd=[
-                '@API_COMPOSITION_CLI_EXECUTABLE@',
-                'composition', 'composition::Listener'
-            ],
-            name='load_listener_component'
-        )
-    )
     launch_description.add_action(
         launch_testing.actions.ReadyToTest()
     )
diff --git a/composition/test/test_api_srv_composition.py.in b/composition/test/test_api_srv_composition.py.in
index 423de906a..ec35bbf39 100644
--- a/composition/test/test_api_srv_composition.py.in
+++ b/composition/test/test_api_srv_composition.py.in
@@ -15,7 +15,9 @@
 import unittest
 
 from launch import LaunchDescription
-from launch.actions import ExecuteProcess
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.actions import LoadComposableNodes
+from launch_ros.descriptions import ComposableNode
 
 import launch_testing
 import launch_testing.actions
@@ -25,28 +27,32 @@ import launch_testing_ros
 
 def generate_test_description():
     launch_description = LaunchDescription()
-    process_under_test = ExecuteProcess(
-        cmd=['@API_COMPOSITION_EXECUTABLE@'],
+    process_under_test = ComposableNodeContainer(
         name='test_api_composition',
+        namespace='',
+        package='rclcpp_components',
+        executable='component_container',
         output='screen'
     )
     launch_description.add_action(process_under_test)
     launch_description.add_action(
-        ExecuteProcess(
-            cmd=[
-                '@API_COMPOSITION_CLI_EXECUTABLE@',
-                'composition', 'composition::Server'
+        LoadComposableNodes(
+            composable_node_descriptions=[
+                ComposableNode(
+                    package='composition',
+                    plugin='composition::Server')
             ],
-            name='load_server_component'
+            target_container=process_under_test
         )
     )
     launch_description.add_action(
-        ExecuteProcess(
-            cmd=[
-                '@API_COMPOSITION_CLI_EXECUTABLE@',
-                'composition', 'composition::Client'
+        LoadComposableNodes(
+            composable_node_descriptions=[
+                ComposableNode(
+                    package='composition',
+                    plugin='composition::Client')
             ],
-            name='load_client_component'
+            target_container=process_under_test
         )
     )
     launch_description.add_action(
diff --git a/composition/test/test_api_srv_composition_client_first.py.in b/composition/test/test_api_srv_composition_client_first.py.in
index fe927661d..f4f66ca69 100644
--- a/composition/test/test_api_srv_composition_client_first.py.in
+++ b/composition/test/test_api_srv_composition_client_first.py.in
@@ -15,7 +15,10 @@
 import unittest
 
 from launch import LaunchDescription
-from launch.actions import ExecuteProcess
+from launch.actions import TimerAction
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.actions import LoadComposableNodes
+from launch_ros.descriptions import ComposableNode
 
 import launch_testing
 import launch_testing.actions
@@ -25,29 +28,37 @@ import launch_testing_ros
 
 def generate_test_description():
     launch_description = LaunchDescription()
-    process_under_test = ExecuteProcess(
-        cmd=['@API_COMPOSITION_EXECUTABLE@'],
+    process_under_test = ComposableNodeContainer(
         name='test_api_composition',
+        namespace='',
+        package='rclcpp_components',
+        executable='component_container',
         output='screen'
     )
     launch_description.add_action(process_under_test)
     launch_description.add_action(
-        ExecuteProcess(
-            cmd=[
-                '@API_COMPOSITION_CLI_EXECUTABLE@',
-                'composition', 'composition::Client'
+        LoadComposableNodes(
+            composable_node_descriptions=[
+                ComposableNode(
+                    package='composition',
+                    plugin='composition::Client')
             ],
-            name='load_client_component'
+            target_container=process_under_test
         )
     )
     launch_description.add_action(
-        ExecuteProcess(
-            cmd=[
-                '@API_COMPOSITION_CLI_EXECUTABLE@',
-                'composition', 'composition::Server',
-                '--delay', '5000'
-            ],
-            name='load_server_component'
+        TimerAction(
+            period=5.0,
+            actions=[
+                LoadComposableNodes(
+                    composable_node_descriptions=[
+                        ComposableNode(
+                            package='composition',
+                            plugin='composition::Server')
+                    ],
+                    target_container=process_under_test
+                )
+            ]
         )
     )
     launch_description.add_action(