diff --git a/.github/workflows/ci-humble.yaml b/.github/workflows/ci-humble.yaml
index 34cc2dd..47f82e8 100644
--- a/.github/workflows/ci-humble.yaml
+++ b/.github/workflows/ci-humble.yaml
@@ -30,12 +30,11 @@ jobs:
       - name: Build
         run: |
           . /opt/ros/humble/setup.sh
-          colcon build --packages-select muto_msgs muto_core muto_agent muto_composer eclipse_muto
+          colcon build
 
       - name: Test
         run: |
           . /opt/ros/humble/setup.sh
           . install/setup.sh
-          colcon test --packages-select muto_msgs --event-handlers console_direct+
+          colcon test --python-testing pytest --event-handlers console_direct+
           colcon test-result --verbose
-          python3 -m pytest src/agent/test/ src/composer/test/ src/core/test/ -v
diff --git a/.github/workflows/ci-jazzy.yaml b/.github/workflows/ci-jazzy.yaml
index 3932e56..ef63826 100644
--- a/.github/workflows/ci-jazzy.yaml
+++ b/.github/workflows/ci-jazzy.yaml
@@ -30,12 +30,11 @@ jobs:
       - name: Build
         run: |
           . /opt/ros/jazzy/setup.sh
-          colcon build --packages-select muto_msgs muto_core muto_agent muto_composer eclipse_muto
+          colcon build
 
       - name: Test
         run: |
           . /opt/ros/jazzy/setup.sh
           . install/setup.sh
-          colcon test --packages-select muto_msgs --event-handlers console_direct+
+          colcon test --python-testing pytest --event-handlers console_direct+
           colcon test-result --verbose
-          python3 -m pytest src/agent/test/ src/composer/test/ src/core/test/ -v
diff --git a/.github/workflows/muto-coverage.yml b/.github/workflows/muto-coverage.yml
index 5563b57..ad5d7ad 100644
--- a/.github/workflows/muto-coverage.yml
+++ b/.github/workflows/muto-coverage.yml
@@ -33,7 +33,7 @@ jobs:
           cd /tmp/ws
           apt-get update -y
           apt-get install -y python3-pip python3-colcon-common-extensions git bc
-          pip3 install coverage requests
+          pip3 install pytest-cov requests
           pip3 install src/muto/src/agent/symphony-sdk-python/
           rosdep update
           rosdep install --from-paths src --ignore-src -r -y --rosdistro humble
@@ -50,21 +50,20 @@ jobs:
         shell: bash
         run: |
           cd /tmp/ws
-          source /opt/ros/humble/setup.sh
+          source /opt/ros/humble/setup.bash
           source install/setup.sh
-          cd src/muto/src/agent
-          python3 -m coverage run --source=muto_agent -m unittest discover -s test -p "test_*.py"
-          cd ../composer
-          python3 -m coverage run --source=muto_composer -m unittest discover -s test -p "test_*.py"
-          cd ../core
-          python3 -m coverage run --source=muto_core -m unittest discover -s test -p "test_*.py"
-          cd ..
-          python3 -m coverage combine agent/.coverage composer/.coverage core/.coverage
-          python3 -m coverage xml
+          colcon test --python-testing pytest \
+            --packages-select muto_agent muto_composer muto_core \
+            --pytest-args --cov --cov-report= \
+            --event-handlers console_direct+
+          colcon test-result --verbose
+          cd src/muto
+          python3 -m coverage combine src/agent/.coverage src/composer/.coverage src/core/.coverage
+          python3 -m coverage xml -o coverage.xml
 
       - name: Upload coverage report
         uses: actions/upload-artifact@v4
         id: unittest_coverage_report_xml
         with:
           name: test-coverage-xml
-          path: /tmp/ws/src/muto/src/coverage.xml
+          path: /tmp/ws/src/muto/coverage.xml
diff --git a/docs/developer_guide/building_from_source.md b/docs/developer_guide/building_from_source.md
index 5e0fbdc..348b4d0 100644
--- a/docs/developer_guide/building_from_source.md
+++ b/docs/developer_guide/building_from_source.md
@@ -336,6 +336,7 @@ source install/setup.bash
 # Run tests
 echo "Running tests..."
 colcon test \
+    --python-testing pytest \
     --event-handlers console_direct+ \
     --return-code-on-test-failure
 
@@ -523,7 +524,7 @@ colcon build \
 
 # Test
 source install/setup.bash
-colcon test --event-handlers console_direct+ --return-code-on-test-failure
+colcon test --python-testing pytest --event-handlers console_direct+ --return-code-on-test-failure
 
 # Static analysis
 if command -v flake8 >/dev/null; then
@@ -563,7 +564,7 @@ case "$1" in
         echo "Running tests..."
         cd ~/muto_ws
         source install/setup.bash
-        colcon test --event-handlers console_direct+
+        colcon test --python-testing pytest --event-handlers console_direct+
         ;;
     "clean")
         echo "Cleaning workspace..."
diff --git a/docs/developer_guide/code_contribution_guidelines.md b/docs/developer_guide/code_contribution_guidelines.md
index 45a9c6e..0c6729a 100644
--- a/docs/developer_guide/code_contribution_guidelines.md
+++ b/docs/developer_guide/code_contribution_guidelines.md
@@ -372,13 +372,14 @@ class TestMutoIntegration(unittest.TestCase):
 ```bash
 # Run all tests
 cd ~/muto_ws
-colcon test --event-handlers console_direct+
+colcon test --python-testing pytest --event-handlers console_direct+
 
 # Run specific package tests
-colcon test --packages-select muto_agent --event-handlers console_direct+
+colcon test --python-testing pytest --packages-select muto_agent --event-handlers console_direct+
 
 # Run tests with coverage
-colcon test --packages-select muto_agent --pytest-args --cov
+pip3 install pytest-cov
+colcon test --python-testing pytest --packages-select muto_agent --pytest-args --cov
 
 # Check test results
 colcon test-result --verbose
@@ -413,7 +414,7 @@ flake8 src/ --max-line-length=88 --extend-ignore=E203,W503
 # 3. Run tests
 echo "3. Running tests..."
 cd ~/muto_ws
-colcon test --packages-select muto_agent muto_composer muto_core --event-handlers console_direct+
+colcon test --python-testing pytest --packages-select muto_agent muto_composer muto_core --event-handlers console_direct+
 colcon test-result --verbose
 
 # 4. Check commit signatures
diff --git a/src/agent b/src/agent
index 9bf2f44..5509a9f 160000
--- a/src/agent
+++ b/src/agent
@@ -1 +1 @@
-Subproject commit 9bf2f448c081b7796ed9e40a62387fbc0ac07672
+Subproject commit 5509a9fc3c79c5e71c4ab83d479ebc93481f9ba5
diff --git a/src/composer b/src/composer
index be388a2..cfa1700 160000
--- a/src/composer
+++ b/src/composer
@@ -1 +1 @@
-Subproject commit be388a2a3d46dd8ef52e54f83c28577a25f60c54
+Subproject commit cfa1700adfef0c1aa56df58d942e6b0a9a368baf
diff --git a/src/core b/src/core
index 8f437d6..5376ebd 160000
--- a/src/core
+++ b/src/core
@@ -1 +1 @@
-Subproject commit 8f437d6f2ffd86b22a7bda63280f3c28b785727a
+Subproject commit 5376ebd15ce0f1da134c9a9d69bf2ab154d5c112
diff --git a/src/messages b/src/messages
index e79510a..a1984a1 160000
--- a/src/messages
+++ b/src/messages
@@ -1 +1 @@
-Subproject commit e79510a089b4b5bb4409eb14c494f7e49da77633
+Subproject commit a1984a1accede0cc1384ca74a77fcf6d0ca5f49e