diff --git a/ros_packages/.gitman.yml b/ros_packages/.gitman.yml
index c3127e3..d42d2fc 100644
--- a/ros_packages/.gitman.yml
+++ b/ros_packages/.gitman.yml
@@ -12,6 +12,18 @@ sources:
         target: mrs_gazebo_common_resources
     scripts:
       - git submodule update --init --recursive
+  - repo: https://github.com/ctu-mrs/mrs_uav_gazebo_testing.git
+    name: mrs_uav_gazebo_testing
+    rev: master
+    type: git
+    params:
+    sparse_paths:
+      -
+    links:
+      - source: ''
+        target: mrs_uav_gazebo_testing
+    scripts:
+      - git submodule update --init --recursive
   - repo: https://github.com/ctu-mrs/px4_firmware.git
     name: px4_firmware
     rev: 1.13.2-dev
diff --git a/ros_packages/mrs_uav_gazebo_simulation/CMakeLists.txt b/ros_packages/mrs_uav_gazebo_simulation/CMakeLists.txt
index cc18419..53b3631 100644
--- a/ros_packages/mrs_uav_gazebo_simulation/CMakeLists.txt
+++ b/ros_packages/mrs_uav_gazebo_simulation/CMakeLists.txt
@@ -14,6 +14,7 @@ set(CATKIN_DEPENDENCIES
   rospy
   std_msgs
   mrs_uav_testing
+  mrs_uav_gazebo_testing
   )
 
 find_package(catkin REQUIRED COMPONENTS
diff --git a/ros_packages/mrs_uav_gazebo_simulation/package.xml b/ros_packages/mrs_uav_gazebo_simulation/package.xml
index b7e1615..b11d1c7 100644
--- a/ros_packages/mrs_uav_gazebo_simulation/package.xml
+++ b/ros_packages/mrs_uav_gazebo_simulation/package.xml
@@ -26,6 +26,7 @@
   <depend>rospy</depend>
   <depend>std_msgs</depend>
   <depend>mrs_uav_testing</depend>
+  <depend>mrs_uav_gazebo_testing</depend>
 
   <depend>python3-jinja2</depend>
 
diff --git a/ros_packages/mrs_uav_gazebo_simulation/test/takeoff/takeoff_gps_baro/takeoff_gps_baro.test b/ros_packages/mrs_uav_gazebo_simulation/test/takeoff/takeoff_gps_baro/takeoff_gps_baro.test
index 536da84..ef69ec6 100644
--- a/ros_packages/mrs_uav_gazebo_simulation/test/takeoff/takeoff_gps_baro/takeoff_gps_baro.test
+++ b/ros_packages/mrs_uav_gazebo_simulation/test/takeoff/takeoff_gps_baro/takeoff_gps_baro.test
@@ -13,7 +13,7 @@
   <arg name="package_eval" default="eval(arg('import_eval') + '(\'rospkg\')').get_package_name(arg('this_path'))" />
   <arg name="package" default="$(eval eval(arg('package_eval')))" />
 
-  <include file="$(find mrs_uav_testing)/launch/gazebo_simulator.launch" />
+  <include file="$(find mrs_uav_gazebo_testing)/launch/gazebo_simulator.launch" />
 
   <include file="$(find mrs_uav_px4_api)/launch/api.launch">
     <arg name="UAV_NAME" default="$(arg UAV_NAME)" />
diff --git a/ros_packages/mrs_uav_gazebo_simulation/test/takeoff/takeoff_gps_baro/test.cpp b/ros_packages/mrs_uav_gazebo_simulation/test/takeoff/takeoff_gps_baro/test.cpp
index 8f3b4f3..cc5358b 100644
--- a/ros_packages/mrs_uav_gazebo_simulation/test/takeoff/takeoff_gps_baro/test.cpp
+++ b/ros_packages/mrs_uav_gazebo_simulation/test/takeoff/takeoff_gps_baro/test.cpp
@@ -1,8 +1,8 @@
 #include <gtest/gtest.h>
 
-#include <mrs_uav_testing/test_generic.h>
+#include <mrs_uav_gazebo_testing/test_generic.h>
 
-class Tester : public mrs_uav_testing::TestGeneric {
+class Tester : public mrs_uav_gazebo_testing::TestGeneric {
 
 public:
   bool test();
@@ -10,7 +10,7 @@ class Tester : public mrs_uav_testing::TestGeneric {
 
 bool Tester::test() {
 
-  std::shared_ptr<mrs_uav_testing::UAVHandler> uh;
+  std::shared_ptr<mrs_uav_gazebo_testing::UAVHandler> uh;
 
   {
     auto [uhopt, message] = getUAVHandler(_uav_name_);
@@ -24,10 +24,15 @@ bool Tester::test() {
   }
 
   {
-    auto [success, message] = uh->spawnGazeboUAV(_gazebo_spawner_params_);
+    std::string _gazebo_spawner_params;
+
+    pl_->loadParam("gazebo_spawner_params", _gazebo_spawner_params, std::string());
+    ROS_INFO_STREAM("[" << ros::this_node::getName().c_str() << "]: Spawning " << _uav_name_);
+
+    auto [success, message] = uh->spawn(_gazebo_spawner_params);
 
     if (!success) {
-      ROS_ERROR("[%s]: gazebo UAV spawning failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str());
+      ROS_ERROR("[%s]: UAV failed to spawn: %s", ros::this_node::getName().c_str(), message.c_str());
       return false;
     }
   }
diff --git a/ros_packages/mrs_uav_gazebo_simulation/test/takeoff/takeoff_gps_garmin/takeoff_gps_garmin.test b/ros_packages/mrs_uav_gazebo_simulation/test/takeoff/takeoff_gps_garmin/takeoff_gps_garmin.test
index ba16e3a..a44c96e 100644
--- a/ros_packages/mrs_uav_gazebo_simulation/test/takeoff/takeoff_gps_garmin/takeoff_gps_garmin.test
+++ b/ros_packages/mrs_uav_gazebo_simulation/test/takeoff/takeoff_gps_garmin/takeoff_gps_garmin.test
@@ -13,7 +13,7 @@
   <arg name="package_eval" default="eval(arg('import_eval') + '(\'rospkg\')').get_package_name(arg('this_path'))" />
   <arg name="package" default="$(eval eval(arg('package_eval')))" />
 
-  <include file="$(find mrs_uav_testing)/launch/gazebo_simulator.launch" />
+  <include file="$(find mrs_uav_gazebo_testing)/launch/gazebo_simulator.launch" />
 
   <include file="$(find mrs_uav_px4_api)/launch/api.launch">
     <arg name="UAV_NAME" default="$(arg UAV_NAME)" />
diff --git a/ros_packages/mrs_uav_gazebo_simulation/test/takeoff/takeoff_gps_garmin/test.cpp b/ros_packages/mrs_uav_gazebo_simulation/test/takeoff/takeoff_gps_garmin/test.cpp
index 8f3b4f3..6cc7aad 100644
--- a/ros_packages/mrs_uav_gazebo_simulation/test/takeoff/takeoff_gps_garmin/test.cpp
+++ b/ros_packages/mrs_uav_gazebo_simulation/test/takeoff/takeoff_gps_garmin/test.cpp
@@ -1,8 +1,8 @@
 #include <gtest/gtest.h>
 
-#include <mrs_uav_testing/test_generic.h>
+#include <mrs_uav_gazebo_testing/test_generic.h>
 
-class Tester : public mrs_uav_testing::TestGeneric {
+class Tester : public mrs_uav_gazebo_testing::TestGeneric {
 
 public:
   bool test();
@@ -10,7 +10,7 @@ class Tester : public mrs_uav_testing::TestGeneric {
 
 bool Tester::test() {
 
-  std::shared_ptr<mrs_uav_testing::UAVHandler> uh;
+  std::shared_ptr<mrs_uav_gazebo_testing::UAVHandler> uh;
 
   {
     auto [uhopt, message] = getUAVHandler(_uav_name_);
@@ -24,10 +24,15 @@ bool Tester::test() {
   }
 
   {
-    auto [success, message] = uh->spawnGazeboUAV(_gazebo_spawner_params_);
+
+    std::string _gazebo_spawner_params;
+    pl_->loadParam("gazebo_spawner_params", _gazebo_spawner_params, std::string());
+    ROS_INFO_STREAM("[" << ros::this_node::getName().c_str() << "]: Spawning " << _uav_name_);
+
+    auto [success, message] = uh->spawn(_gazebo_spawner_params);
 
     if (!success) {
-      ROS_ERROR("[%s]: gazebo UAV spawning failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str());
+      ROS_ERROR("[%s]: UAV failed to spawn: %s", ros::this_node::getName().c_str(), message.c_str());
       return false;
     }
   }
diff --git a/ros_packages/mrs_uav_gazebo_simulation/test/uav_models/test.cpp b/ros_packages/mrs_uav_gazebo_simulation/test/uav_models/test.cpp
index 8f3b4f3..d5b32c7 100644
--- a/ros_packages/mrs_uav_gazebo_simulation/test/uav_models/test.cpp
+++ b/ros_packages/mrs_uav_gazebo_simulation/test/uav_models/test.cpp
@@ -1,8 +1,8 @@
 #include <gtest/gtest.h>
 
-#include <mrs_uav_testing/test_generic.h>
+#include <mrs_uav_gazebo_testing/test_generic.h>
 
-class Tester : public mrs_uav_testing::TestGeneric {
+class Tester : public mrs_uav_gazebo_testing::TestGeneric {
 
 public:
   bool test();
@@ -10,7 +10,7 @@ class Tester : public mrs_uav_testing::TestGeneric {
 
 bool Tester::test() {
 
-  std::shared_ptr<mrs_uav_testing::UAVHandler> uh;
+  std::shared_ptr<mrs_uav_gazebo_testing::UAVHandler> uh;
 
   {
     auto [uhopt, message] = getUAVHandler(_uav_name_);
@@ -24,14 +24,17 @@ bool Tester::test() {
   }
 
   {
-    auto [success, message] = uh->spawnGazeboUAV(_gazebo_spawner_params_);
-
+    std::string _gazebo_spawner_params;
+    pl_->loadParam("gazebo_spawner_params", _gazebo_spawner_params, std::string());
+    ROS_INFO_STREAM("[" << ros::this_node::getName().c_str() << "]: Spawning " << _uav_name_);
+    auto [success, message] = uh->spawn(_gazebo_spawner_params);
     if (!success) {
-      ROS_ERROR("[%s]: gazebo UAV spawning failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str());
+      ROS_ERROR("[%s]: UAV failed to spawn: %s", ros::this_node::getName().c_str(), message.c_str());
       return false;
     }
   }
 
+
   {
     auto [success, message] = uh->takeoff();
 
diff --git a/ros_packages/mrs_uav_gazebo_simulation/test/uav_models/uav_models.test b/ros_packages/mrs_uav_gazebo_simulation/test/uav_models/uav_models.test
index ba16e3a..a44c96e 100644
--- a/ros_packages/mrs_uav_gazebo_simulation/test/uav_models/uav_models.test
+++ b/ros_packages/mrs_uav_gazebo_simulation/test/uav_models/uav_models.test
@@ -13,7 +13,7 @@
   <arg name="package_eval" default="eval(arg('import_eval') + '(\'rospkg\')').get_package_name(arg('this_path'))" />
   <arg name="package" default="$(eval eval(arg('package_eval')))" />
 
-  <include file="$(find mrs_uav_testing)/launch/gazebo_simulator.launch" />
+  <include file="$(find mrs_uav_gazebo_testing)/launch/gazebo_simulator.launch" />
 
   <include file="$(find mrs_uav_px4_api)/launch/api.launch">
     <arg name="UAV_NAME" default="$(arg UAV_NAME)" />