diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 6c2c48e..4abcf4a 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -38,12 +38,12 @@ jobs:
         with:
           package-name: |
             scitos2
+            scitos2_behavior_tree
             scitos2_common
             scitos2_core
-            scitos2_msgs
-            scitos2_modules
             scitos2_mira
-            scitos2_behavior_tree
+            scitos2_modules
+            scitos2_msgs
           target-ros2-distro: humble
           colcon-defaults: |
             {
diff --git a/scitos2_behavior_tree/CMakeLists.txt b/scitos2_behavior_tree/CMakeLists.txt
index 6102d25..a2c6f89 100644
--- a/scitos2_behavior_tree/CMakeLists.txt
+++ b/scitos2_behavior_tree/CMakeLists.txt
@@ -1,6 +1,16 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.5)
 project(scitos2_behavior_tree)
 
+if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
+  message(STATUS "Setting build type to Release as none was specified.")
+  set(CMAKE_BUILD_TYPE "Release" CACHE
+    STRING "Choose the type of build." FORCE)
+
+  # Set the possible values of build type for cmake-gui
+  set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS
+    "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
+endif()
+
 # Default to C++17
 if(NOT CMAKE_CXX_STANDARD)
   if("cxx_std_17" IN_LIST CMAKE_CXX_COMPILE_FEATURES)
@@ -11,10 +21,18 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "GNU" OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror -Wdeprecated -fPIC -Wshadow -Wnull-dereference)
+  # add_compile_options(-Wall -Wextra -Wpedantic -Werror -Wdeprecated -fPIC -Wshadow -Wnull-dereference)
+  add_compile_options(-Wall -Wextra -Wpedantic -Wdeprecated -fPIC -Wshadow -Wnull-dereference)
   add_compile_options("$<$<COMPILE_LANGUAGE:CXX>:-Wnon-virtual-dtor>")
 endif()
 
+option(COVERAGE_ENABLED "Enable code coverage" FALSE)
+if(COVERAGE_ENABLED)
+  add_compile_options(--coverage)
+  set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} --coverage")
+  set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} --coverage")
+endif()
+
 # ###############################################
 # # Find  dependencies                         ##
 # ###############################################
@@ -97,6 +115,7 @@ if(BUILD_TESTING)
   # the following line skips the linter which checks for copyrights
   set(ament_cmake_copyright_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
+  find_package(ament_cmake_gtest REQUIRED)
   add_subdirectory(test)
 endif()
 
diff --git a/scitos2_core/CMakeLists.txt b/scitos2_core/CMakeLists.txt
index 71a7e6a..591ba10 100644
--- a/scitos2_core/CMakeLists.txt
+++ b/scitos2_core/CMakeLists.txt
@@ -1,6 +1,16 @@
 cmake_minimum_required(VERSION 3.5)
 project(scitos2_core)
 
+if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
+  message(STATUS "Setting build type to Release as none was specified.")
+  set(CMAKE_BUILD_TYPE "Release" CACHE
+    STRING "Choose the type of build." FORCE)
+
+  # Set the possible values of build type for cmake-gui
+  set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS
+    "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
+endif()
+
 # Default to C++17
 if(NOT CMAKE_CXX_STANDARD)
   if("cxx_std_17" IN_LIST CMAKE_CXX_COMPILE_FEATURES)
@@ -15,6 +25,13 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "GNU" OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options("$<$<COMPILE_LANGUAGE:CXX>:-Wnon-virtual-dtor>")
 endif()
 
+option(COVERAGE_ENABLED "Enable code coverage" FALSE)
+if(COVERAGE_ENABLED)
+  add_compile_options(--coverage)
+  set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} --coverage")
+  set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} --coverage")
+endif()
+
 # ###############################################
 # # Find  dependencies                         ##
 # ###############################################
diff --git a/scitos2_mira/CMakeLists.txt b/scitos2_mira/CMakeLists.txt
index 11cbaee..3baa2b5 100644
--- a/scitos2_mira/CMakeLists.txt
+++ b/scitos2_mira/CMakeLists.txt
@@ -1,6 +1,16 @@
 cmake_minimum_required(VERSION 3.5)
 project(scitos2_mira)
 
+if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
+  message(STATUS "Setting build type to Release as none was specified.")
+  set(CMAKE_BUILD_TYPE "Release" CACHE
+    STRING "Choose the type of build." FORCE)
+
+  # Set the possible values of build type for cmake-gui
+  set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS
+    "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
+endif()
+
 # Default to C++17
 if(NOT CMAKE_CXX_STANDARD)
   if("cxx_std_17" IN_LIST CMAKE_CXX_COMPILE_FEATURES)
@@ -12,10 +22,17 @@ endif()
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "GNU" OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   # add_compile_options(-Wall -Wextra -Wpedantic -Werror -Wdeprecated -fPIC -Wshadow -Wnull-dereference)
-  add_compile_options(-Wall -Wextra)
+  add_compile_options(-Wall -Wextra -Wpedantic -Wdeprecated -fPIC -Wshadow -Wnull-dereference)
   add_compile_options("$<$<COMPILE_LANGUAGE:CXX>:-Wnon-virtual-dtor>")
 endif()
 
+option(COVERAGE_ENABLED "Enable code coverage" FALSE)
+if(COVERAGE_ENABLED)
+  add_compile_options(--coverage)
+  set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} --coverage")
+  set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} --coverage")
+endif()
+
 # ###############################################
 # # Find  dependencies                         ##
 # ###############################################
@@ -100,6 +117,7 @@ if(BUILD_TESTING)
   # the following line skips the linter which checks for copyrights
   set(ament_cmake_copyright_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
+  find_package(ament_cmake_gtest REQUIRED)
   add_subdirectory(test)
 endif()
 
diff --git a/scitos2_mira/test/test_mira_framework.cpp b/scitos2_mira/test/test_mira_framework.cpp
index 1860433..1bd4488 100644
--- a/scitos2_mira/test/test_mira_framework.cpp
+++ b/scitos2_mira/test/test_mira_framework.cpp
@@ -17,6 +17,7 @@
 #include "rclcpp/rclcpp.hpp"
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include "lifecycle_msgs/msg/state.hpp"
+#include "nav2_util/lifecycle_node.hpp"
 #include "nav2_util/node_utils.hpp"
 #include "scitos2_mira/mira_framework.hpp"
 #include "scitos2_core/module.hpp"
diff --git a/scitos2_modules/CMakeLists.txt b/scitos2_modules/CMakeLists.txt
index 8304c84..69bf7b8 100644
--- a/scitos2_modules/CMakeLists.txt
+++ b/scitos2_modules/CMakeLists.txt
@@ -1,6 +1,16 @@
 cmake_minimum_required(VERSION 3.5)
 project(scitos2_modules)
 
+if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
+  message(STATUS "Setting build type to Release as none was specified.")
+  set(CMAKE_BUILD_TYPE "Release" CACHE
+    STRING "Choose the type of build." FORCE)
+
+  # Set the possible values of build type for cmake-gui
+  set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS
+    "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
+endif()
+
 # Default to C++17
 if(NOT CMAKE_CXX_STANDARD)
   if("cxx_std_17" IN_LIST CMAKE_CXX_COMPILE_FEATURES)
@@ -12,7 +22,15 @@ endif()
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "GNU" OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   # add_compile_options(-Wall -Wextra -Wpedantic -Werror -Wdeprecated -fPIC -Wshadow -Wnull-dereference)
-  # add_compile_options("$<$<COMPILE_LANGUAGE:CXX>:-Wnon-virtual-dtor>")
+  add_compile_options(-Wall -Wextra -Wpedantic -Wdeprecated -fPIC -Wshadow -Wnull-dereference)
+  add_compile_options("$<$<COMPILE_LANGUAGE:CXX>:-Wnon-virtual-dtor>")
+endif()
+
+option(COVERAGE_ENABLED "Enable code coverage" FALSE)
+if(COVERAGE_ENABLED)
+  add_compile_options(--coverage)
+  set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} --coverage")
+  set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} --coverage")
 endif()
 
 # ###############################################