diff --git a/rcl/package.xml b/rcl/package.xml
index e9371d831..7cfaef6ba 100644
--- a/rcl/package.xml
+++ b/rcl/package.xml
@@ -34,7 +34,7 @@
   <test_depend>ament_lint_common</test_depend>
   <test_depend>rmw</test_depend>
   <test_depend>rmw_implementation_cmake</test_depend>
-  <test_depend>launch</test_depend>
+  <test_depend>launch_testing</test_depend>
   <test_depend>osrf_testing_tools_cpp</test_depend>
   <test_depend>test_msgs</test_depend>
 
diff --git a/rcl/test/rcl/test_rmw_impl_id_check.py.in b/rcl/test/rcl/test_rmw_impl_id_check.py.in
index fa5ebed67..a3311d6e1 100644
--- a/rcl/test/rcl/test_rmw_impl_id_check.py.in
+++ b/rcl/test/rcl/test_rmw_impl_id_check.py.in
@@ -2,35 +2,40 @@
 
 import os
 
-from launch.legacy import LaunchDescriptor
-from launch.legacy.launcher import DefaultLauncher
+from launch import LaunchDescription
+from launch import LaunchService
+from launch.actions import ExecuteProcess
+from launch_testing import LaunchTestService
 
 
 def launch_test(
     rmw_implementation_env=None, rcl_assert_rmw_id_matches_env=None, expect_failure=False
 ):
-    ld = LaunchDescriptor()
+    launch_test = LaunchTestService()
+    launch_description = LaunchDescription()
 
     env = dict(os.environ)
     if rmw_implementation_env is not None:
-      env['RMW_IMPLEMENTATION'] = rmw_implementation_env
+        env['RMW_IMPLEMENTATION'] = rmw_implementation_env
     if rcl_assert_rmw_id_matches_env is not None:
-      env['RCL_ASSERT_RMW_ID_MATCHES'] = rcl_assert_rmw_id_matches_env
-
-    ld.add_process(
-        cmd=['@TEST_RMW_IMPL_ID_CHECK_EXECUTABLE_NAME@'],
-        name='@TEST_RMW_IMPL_ID_CHECK_EXECUTABLE_NAME@',
-        env=env,
+        env['RCL_ASSERT_RMW_ID_MATCHES'] = rcl_assert_rmw_id_matches_env
+
+    launch_test.add_test_action(
+        launch_description, ExecuteProcess(
+            cmd=['@TEST_RMW_IMPL_ID_CHECK_EXECUTABLE_NAME@'],
+            name='@TEST_RMW_IMPL_ID_CHECK_EXECUTABLE_NAME@',
+            env=env,
+        )
     )
 
-    launcher = DefaultLauncher()
-    launcher.add_launch_descriptor(ld)
-    rc = launcher.launch()
+    launch_service = LaunchService()
+    launch_service.include_launch_description(launch_description)
+    rc = launch_test.run(launch_service)
 
     if expect_failure:
-      assert rc != 0, 'The executable did not fail as expected.'
+        assert rc != 0, 'The executable did not fail as expected.'
     else:
-      assert rc == 0, "The executable failed with exit code '" + str(rc) + "'. "
+        assert rc == 0, "The executable failed with exit code '" + str(rc) + "'. "
 
 
 def test_rmw_implementation_env():
@@ -71,6 +76,6 @@ def test_both():
 
 
 if __name__ == '__main__':
-    test_rmw_impl_env()
+    test_rmw_implementation_env()
     test_rcl_assert_rmw_id_matches_env()
     test_both()
diff --git a/rcl/test/rcl/test_two_executables.py.in b/rcl/test/rcl/test_two_executables.py.in
index 71748464b..bffaa709e 100644
--- a/rcl/test/rcl/test_two_executables.py.in
+++ b/rcl/test/rcl/test_two_executables.py.in
@@ -1,29 +1,32 @@
 # generated from rcl/test/test_two_executables.py.in
 
-from launch.legacy import LaunchDescriptor
-from launch.legacy.exit_handler import ignore_signal_exit_handler
-from launch.legacy.exit_handler import primary_exit_handler
-from launch.legacy.launcher import DefaultLauncher
+from launch import LaunchDescription
+from launch import LaunchService
+from launch.actions import ExecuteProcess
+from launch_testing import LaunchTestService
 
 
 def @TEST_NAME@():
-    ld = LaunchDescriptor()
-
-    ld.add_process(
-        cmd=['@TEST_EXECUTABLE1@'],
-        name='@TEST_EXECUTABLE1_NAME@',
-        exit_handler=ignore_signal_exit_handler,
+    launch_test = LaunchTestService()
+    launch_description = LaunchDescription()
+
+    launch_test.add_fixture_action(
+        launch_description, ExecuteProcess(
+            cmd=['@TEST_EXECUTABLE1@'],
+            name='@TEST_EXECUTABLE1_NAME@',
+        ), exit_allowed=True
     )
 
-    ld.add_process(
-        cmd=['@TEST_EXECUTABLE2@', '@TEST_EXECUTABLE1_NAME@'],
-        name='@TEST_EXECUTABLE2_NAME@',
-        exit_handler=primary_exit_handler,
+    launch_test.add_test_action(
+        launch_description, ExecuteProcess(
+            cmd=['@TEST_EXECUTABLE2@', '@TEST_EXECUTABLE1_NAME@'],
+            name='@TEST_EXECUTABLE2_NAME@',
+        )
     )
 
-    launcher = DefaultLauncher()
-    launcher.add_launch_descriptor(ld)
-    rc = launcher.launch()
+    launch_service = LaunchService()
+    launch_service.include_launch_description(launch_description)
+    rc = launch_test.run(launch_service)
 
     assert rc == 0, "The launch file failed with exit code '" + str(rc) + "'. "