diff --git a/ros2/ament.bzl b/ros2/ament.bzl
index 98b2a35b..c6403bdd 100644
--- a/ros2/ament.bzl
+++ b/ros2/ament.bzl
@@ -384,16 +384,18 @@ sh_launcher_rule = rule(
     toolchains = [SH_TOOLCHAIN],
 )
 
-def sh_launcher(name, deps, idl_deps = None, **kwargs):
-    ament_setup = name + "_ament_setup"
+def sh_launcher(name, ament_setup_deps = None, idl_deps = None, **kwargs):
     testonly = kwargs.get("testonly", False)
-    ros2_ament_setup(
-        name = ament_setup,
-        deps = deps,
-        idl_deps = idl_deps,
-        tags = ["manual"],
-        testonly = testonly,
-    )
+    ament_setup = None
+    if ament_setup_deps != None:
+        ament_setup = name + "_ament_setup"
+        ros2_ament_setup(
+            name = ament_setup,
+            deps = ament_setup_deps,
+            idl_deps = idl_deps,
+            tags = ["manual"],
+            testonly = testonly,
+        )
     sh_launcher_rule(
         name = name,
         ament_setup = ament_setup,
diff --git a/ros2/cc_defs.bzl b/ros2/cc_defs.bzl
index d05f2a51..35d51c63 100644
--- a/ros2/cc_defs.bzl
+++ b/ros2/cc_defs.bzl
@@ -67,7 +67,9 @@ def ros2_c_binary(name, ros2_package_name = None, **kwargs):
 def _ros2_cpp_exec(target, name, ros2_package_name, set_up_ament, idl_deps, **kwargs):
     if idl_deps != None and len(idl_deps) > 0:
         set_up_ament = True
-    if set_up_ament == False:
+    is_test = target == cc_test
+    set_up_launcher = is_test or set_up_ament
+    if set_up_launcher == False:
         _ros2_cc_target(target, "cpp", name, ros2_package_name, **kwargs)
         return
 
@@ -75,12 +77,11 @@ def _ros2_cpp_exec(target, name, ros2_package_name, set_up_ament, idl_deps, **kw
     target_impl = name + "_impl"
     _ros2_cc_target(cc_binary, "cpp", target_impl, ros2_package_name, tags = ["manual"], **binary_kwargs)
 
-    is_test = target == cc_test
-
     launcher = "{}_launch".format(name)
+    ament_setup_deps = [target_impl] if set_up_ament else None
     sh_launcher(
         launcher,
-        deps = [target_impl],
+        ament_setup_deps = ament_setup_deps,
         template = "@com_github_mvukov_rules_ros2//ros2:launch.sh.tpl",
         substitutions = {
             "{entry_point}": "$(rootpath {})".format(target_impl),
@@ -119,6 +120,9 @@ def ros2_cpp_test(name, ros2_package_name = None, set_up_ament = True, idl_deps
 
     Adds common ROS 2 C++ definitions on top of a cc_test.
 
+    Defaults ROS_HOME and ROS_LOG_DIR to $TEST_UNDECLARED_OUTPUTS_DIR (if set,
+    otherwise to $TEST_TMPDIR, see https://bazel.build/reference/test-encyclopedia#initial-conditions)
+
     Please make sure that --sandbox_default_allow_network=false is set in .bazelrc.
     This ensures proper network isolation.
 
@@ -126,10 +130,7 @@ def ros2_cpp_test(name, ros2_package_name = None, set_up_ament = True, idl_deps
         name: A unique target name.
         ros2_package_name: If given, defines a ROS package name for the target.
             Otherwise, the `name` is used as the package name.
-        set_up_ament: If true, generate a launcher for the target which:
-            * Sets AMENT_PREFIX_PATH to point to a generated ament file tree
-            * Defaults ROS_HOME and ROS_LOG_DIR to $TEST_UNDECLARED_OUTPUTS_DIR (if set,
-              otherwise to $TEST_TMPDIR, see https://bazel.build/reference/test-encyclopedia#initial-conditions)
+        set_up_ament: If true, sets up ament file tree for the test target.
         idl_deps: Additional IDL deps that are used as runtime plugins.
         **kwargs: https://bazel.build/reference/be/common-definitions#common-attributes-tests
     """
diff --git a/ros2/py_defs.bzl b/ros2/py_defs.bzl
index 6b2c24f1..f6fc97c7 100644
--- a/ros2/py_defs.bzl
+++ b/ros2/py_defs.bzl
@@ -6,7 +6,9 @@ load("@com_github_mvukov_rules_ros2//third_party:symlink.bzl", "symlink")
 load("@rules_python//python:defs.bzl", "py_binary", "py_test")
 
 def _ros2_py_exec(target, name, srcs, main, set_up_ament, **kwargs):
-    if set_up_ament == False:
+    is_test = target == py_test
+    set_up_launcher = is_test or set_up_ament
+    if set_up_launcher == False:
         target(name = name, srcs = srcs, main = main, **kwargs)
         return
 
@@ -14,8 +16,6 @@ def _ros2_py_exec(target, name, srcs, main, set_up_ament, **kwargs):
     target_impl = name + "_impl"
     target(name = target_impl, srcs = srcs, main = main, tags = ["manual"], **binary_kwargs)
 
-    is_test = target == py_test
-
     target_impl_symlink = target_impl + "_symlink"
     symlink(
         name = target_impl_symlink,
@@ -25,9 +25,10 @@ def _ros2_py_exec(target, name, srcs, main, set_up_ament, **kwargs):
     )
 
     launcher = "{}_launch".format(name)
+    ament_setup_deps = [target_impl] if set_up_ament else None
     sh_launcher(
         launcher,
-        deps = [target_impl],
+        ament_setup_deps = ament_setup_deps,
         template = "@com_github_mvukov_rules_ros2//ros2:launch.sh.tpl",
         substitutions = {
             "{entry_point}": "$(rootpath {})".format(target_impl_symlink),
@@ -60,6 +61,9 @@ def ros2_py_binary(name, srcs, main, set_up_ament = False, **kwargs):
 def ros2_py_test(name, srcs, main, set_up_ament = True, **kwargs):
     """ Defines a ROS 2 Python test.
 
+    Defaults ROS_HOME and ROS_LOG_DIR to $TEST_UNDECLARED_OUTPUTS_DIR (if set,
+    otherwise to $TEST_TMPDIR, see https://bazel.build/reference/test-encyclopedia#initial-conditions)
+
     Please make sure that --sandbox_default_allow_network=false is set in .bazelrc.
     This ensures proper network isolation.
 
@@ -67,10 +71,7 @@ def ros2_py_test(name, srcs, main, set_up_ament = True, **kwargs):
         name: A unique target name.
         srcs: List of source files.
         main: Source file to use as entrypoint.
-        set_up_ament: If true, generate a launcher for the target which:
-            * Sets AMENT_PREFIX_PATH to point to a generated ament file tree
-            * Defaults ROS_HOME and ROS_LOG_DIR to $TEST_UNDECLARED_OUTPUTS_DIR (if set,
-              otherwise to $TEST_TMPDIR, see https://bazel.build/reference/test-encyclopedia#initial-conditions)
+        set_up_ament: If true, sets up ament file tree for the test target.
         **kwargs: https://bazel.build/reference/be/common-definitions#common-attributes-tests
     """
     _ros2_py_exec(py_test, name, srcs, main, set_up_ament, **kwargs)
diff --git a/ros2/rust_defs.bzl b/ros2/rust_defs.bzl
index 025f1c4a..31ad5d51 100644
--- a/ros2/rust_defs.bzl
+++ b/ros2/rust_defs.bzl
@@ -1,11 +1,7 @@
 """ Defines commonly used Rust macros.
 """
 
-load(
-    "@com_github_mvukov_rules_ros2//ros2:ament.bzl",
-    "sh_launcher_rule",
-    "split_kwargs",
-)
+load("@com_github_mvukov_rules_ros2//ros2:ament.bzl", "sh_launcher", "split_kwargs")
 load("@rules_rust//rust:defs.bzl", "rust_binary", "rust_test")
 
 def ros2_rust_test(name, **kwargs):
@@ -31,7 +27,7 @@ def ros2_rust_test(name, **kwargs):
     )
 
     launcher = "{}_launch".format(name)
-    sh_launcher_rule(
+    sh_launcher(
         name = launcher,
         template = "@com_github_mvukov_rules_ros2//ros2:launch.sh.tpl",
         substitutions = {