diff --git a/nextage_ros_bridge/CMakeLists.txt b/nextage_ros_bridge/CMakeLists.txt
index 2710e88e..6bce2e55 100644
--- a/nextage_ros_bridge/CMakeLists.txt
+++ b/nextage_ros_bridge/CMakeLists.txt
@@ -142,4 +142,5 @@ install(DIRECTORY test
 if(CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)
   add_rostest(test/nxo.test)
+  add_rostest(test/nxo_rosbridge.test)
 endif()
diff --git a/nextage_ros_bridge/test/nxo.test b/nextage_ros_bridge/test/nxo.test
index 220580c2..691d3f19 100644
--- a/nextage_ros_bridge/test/nxo.test
+++ b/nextage_ros_bridge/test/nxo.test
@@ -21,5 +21,4 @@
         time-limit="1000" args="$(arg ROBOTCLIENT_ARG_OLDSTYLE)" />
   <test type="test_airhand.py" pkg="nextage_ros_bridge" test-name="test_nxo_airhand"
         time-limit="1000" args="$(arg ROBOTCLIENT_ARG_OLDSTYLE)" />
-         
 </launch>
diff --git a/nextage_ros_bridge/test/nxo_rosbridge.test b/nextage_ros_bridge/test/nxo_rosbridge.test
new file mode 100644
index 00000000..ed96305c
--- /dev/null
+++ b/nextage_ros_bridge/test/nxo_rosbridge.test
@@ -0,0 +1,19 @@
+<launch>
+  <arg name="CORBA_PORT" default="2809" />
+
+  <include file="$(find nextage_ros_bridge)/test/test_nextage_ros_bridge_common.launch">
+    <arg name="corbaport" value="$(arg CORBA_PORT)" />
+    <arg name="GUI" value="false" />
+  </include>
+
+  <!-- Test if hand camera topic published on sim. -->
+  <arg name='TESTNAME_HANDCAM_L' value='hz_handcamera_l' />
+  <test pkg="rostest" type="hztest" test-name="$(arg TESTNAME_HANDCAM_L)"
+        name="$(arg TESTNAME_HANDCAM_L)" time-limit="30o" retry="3" >
+    <param name="topic" value="/hand_left/image_raw" />
+    <param name="hz" value="15.0" />
+    <param name="hzerror" value="5.0" />
+    <param name="test_duration" value="5.0" />
+    <param name="wait_time" value="20.0" />
+  </test>
+</launch>
diff --git a/nextage_ros_bridge/test/test_nextage_ros_bridge_common.launch b/nextage_ros_bridge/test/test_nextage_ros_bridge_common.launch
new file mode 100644
index 00000000..3956cfe2
--- /dev/null
+++ b/nextage_ros_bridge/test/test_nextage_ros_bridge_common.launch
@@ -0,0 +1,18 @@
+<launch>
+  <!-- TODO In the future this launch file can be removed as long as we
+       modify hironx_ros_bridge)/test/test-hironx-ros-bridge-common.launch so
+       that it accepts nextage_ros_bridge_simulation.launch as an arg.
+   -->
+
+  <arg name="corbaport" default="2809" />
+  <arg name="GUI" default="false" />
+  
+  <!-- See https://github.com/start-jsk/rtmros_common/issues/416#issuecomment-46846623 -->
+  <node pkg="rtmbuild" type="start_omninames.sh" args="$(arg corbaport)"
+        name="start_omninames"  />
+  
+  <include file="$(find nextage_ros_bridge)/launch/nextage_ros_bridge_simulation.launch" >
+    <arg name="GUI" value="$(arg GUI)" />
+    <arg name="corbaport" value="$(arg corbaport)" />
+  </include>
+</launch>
\ No newline at end of file