diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 110a4da..5d86e51 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -14,3 +14,17 @@ jobs:
       - uses: DeterminateSystems/nix-installer-action@main
       - uses: DeterminateSystems/magic-nix-cache-action@main
       - run: nix flake check
+  tests:
+    name: Test suite
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: DeterminateSystems/nix-installer-action@main
+      - uses: DeterminateSystems/magic-nix-cache-action@main
+      - run: |
+          git config --global user.email "action@github.com"
+          git config --global user.name "GitHub Action"
+      - run: "nix develop -c echo preparing environment"
+      - run: "set -o pipefail; nix develop -c bats test/{test,long_tests}.bats | tee tests.tap"
+      - uses: pcolby/tap-summary@v1
+        if: always()
diff --git a/flake.nix b/flake.nix
index df50985..792824f 100644
--- a/flake.nix
+++ b/flake.nix
@@ -102,6 +102,7 @@
                 p.bats-assert
                 p.bats-file
             ]))
+            pkgs.vcstool
             pkgs.python3Packages.flake8
             pkgs.python3Packages.flake8-bugbear
             pkgs.python3Packages.isort
@@ -109,6 +110,7 @@
           ];
           ROSDEP_SOURCE_PATH = "${rosdistro}/rosdep/sources.list.d";
           ROSDISTRO_INDEX_URL = "file://${rosdistro}/index-v4.yaml";
+          ROS_HOME = rosdep-cache;
         };
         packages = {
           default = ros2nix;