diff --git a/test/compile_tests.sh b/test/compile_tests.sh
index efbc058..a93d8bf 100755
--- a/test/compile_tests.sh
+++ b/test/compile_tests.sh
@@ -6,5 +6,5 @@ trap 'last_command=$current_command; current_command=$BASH_COMMAND' DEBUG
 trap 'echo "$0: \"${last_command}\" command failed with exit code $?"' ERR
 
 # build the package
-catkin build --this # it has to be fully built normally before building with --catkin-make-args tests
+catkin build --this -DMRS_ENABLE_TESTING=1 --no-deps # it has to be fully built normally before building with --catkin-make-args tests
 catkin build --this -DMRS_ENABLE_TESTING=1 --no-deps --catkin-make-args tests
diff --git a/test/gps_baro/gps_baro_basic/test.cpp b/test/gps_baro/gps_baro_basic/test.cpp
index 50e094f..cf025d4 100644
--- a/test/gps_baro/gps_baro_basic/test.cpp
+++ b/test/gps_baro/gps_baro_basic/test.cpp
@@ -10,8 +10,21 @@ class Tester : public mrs_uav_testing::TestGeneric {
 
 bool Tester::test() {
 
+  std::shared_ptr<mrs_uav_testing::UAVHandler> uh;
+
+  {
+    auto [uhopt, message] = getUAVHandler(_uav_name_);
+
+    if (!uhopt) {
+      ROS_ERROR("[%s]: Failed obtain handler for '%s': '%s'", ros::this_node::getName().c_str(), _uav_name_.c_str(), message.c_str());
+      return false;
+    }
+
+    uh = uhopt.value();
+  }
+
   {
-    auto [success, message] = activateMidAir();
+    auto [success, message] = uh->activateMidAir();
 
     if (!success) {
       ROS_ERROR("[%s]: midair activation failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str());
@@ -19,13 +32,13 @@ bool Tester::test() {
     }
   }
 
-  if (getActiveEstimator() != "gps_baro") {
+  if (uh->getActiveEstimator() != "gps_baro") {
     ROS_ERROR("[%s]: gps_baro estimator not active", ros::this_node::getName().c_str());
     return false;
   }
 
   {
-    auto [success, message] = this->gotoRel(10, 2, 1.5, 1.5);
+    auto [success, message] = uh->gotoRel(10, 2, 1.5, 1.5);
 
     if (!success) {
       ROS_ERROR("[%s]: goto failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str());
@@ -35,7 +48,7 @@ bool Tester::test() {
 
   this->sleep(5.0);
 
-  if (this->isFlyingNormally()) {
+  if (uh->isFlyingNormally()) {
     return true;
   } else {
     ROS_ERROR("[%s]: not flying normally", ros::this_node::getName().c_str());
diff --git a/test/gps_garmin/gps_garmin_basic/test.cpp b/test/gps_garmin/gps_garmin_basic/test.cpp
index bba13fa..a160309 100644
--- a/test/gps_garmin/gps_garmin_basic/test.cpp
+++ b/test/gps_garmin/gps_garmin_basic/test.cpp
@@ -10,8 +10,21 @@ class Tester : public mrs_uav_testing::TestGeneric {
 
 bool Tester::test() {
 
+  std::shared_ptr<mrs_uav_testing::UAVHandler> uh;
+
+  {
+    auto [uhopt, message] = getUAVHandler(_uav_name_);
+
+    if (!uhopt) {
+      ROS_ERROR("[%s]: Failed obtain handler for '%s': '%s'", ros::this_node::getName().c_str(), _uav_name_.c_str(), message.c_str());
+      return false;
+    }
+
+    uh = uhopt.value();
+  }
+
   {
-    auto [success, message] = activateMidAir();
+    auto [success, message] = uh->activateMidAir();
 
     if (!success) {
       ROS_ERROR("[%s]: midair activation failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str());
@@ -19,13 +32,13 @@ bool Tester::test() {
     }
   }
 
-  if (getActiveEstimator() != "gps_garmin") {
+  if (uh->getActiveEstimator() != "gps_garmin") {
     ROS_ERROR("[%s]: gps_garmin estimator not active", ros::this_node::getName().c_str());
     return false;
   }
 
   {
-    auto [success, message] = this->gotoRel(10, 2, 1.5, 1.5);
+    auto [success, message] = uh->gotoRel(10, 2, 1.5, 1.5);
 
     if (!success) {
       ROS_ERROR("[%s]: goto failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str());
@@ -35,7 +48,7 @@ bool Tester::test() {
 
   this->sleep(5.0);
 
-  if (this->isFlyingNormally()) {
+  if (uh->isFlyingNormally()) {
     return true;
   } else {
     ROS_ERROR("[%s]: not flying normally", ros::this_node::getName().c_str());
diff --git a/test/rtk/rtk_basic/test.cpp b/test/rtk/rtk_basic/test.cpp
index 7785c71..123e8cc 100644
--- a/test/rtk/rtk_basic/test.cpp
+++ b/test/rtk/rtk_basic/test.cpp
@@ -10,8 +10,21 @@ class Tester : public mrs_uav_testing::TestGeneric {
 
 bool Tester::test() {
 
+  std::shared_ptr<mrs_uav_testing::UAVHandler> uh;
+
+  {
+    auto [uhopt, message] = getUAVHandler(_uav_name_);
+
+    if (!uhopt) {
+      ROS_ERROR("[%s]: Failed obtain handler for '%s': '%s'", ros::this_node::getName().c_str(), _uav_name_.c_str(), message.c_str());
+      return false;
+    }
+
+    uh = uhopt.value();
+  }
+
   {
-    auto [success, message] = activateMidAir();
+    auto [success, message] = uh->activateMidAir();
 
     if (!success) {
       ROS_ERROR("[%s]: midair activation failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str());
@@ -19,13 +32,13 @@ bool Tester::test() {
     }
   }
 
-  if (getActiveEstimator() != "rtk") {
+  if (uh->getActiveEstimator() != "rtk") {
     ROS_ERROR("[%s]: rtk estimator not active", ros::this_node::getName().c_str());
     return false;
   }
 
   {
-    auto [success, message] = this->gotoRel(10, 2, 1.5, 1.5);
+    auto [success, message] = uh->gotoRel(10, 2, 1.5, 1.5);
 
     if (!success) {
       ROS_ERROR("[%s]: goto failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str());
@@ -35,7 +48,7 @@ bool Tester::test() {
 
   this->sleep(5.0);
 
-  if (this->isFlyingNormally()) {
+  if (uh->isFlyingNormally()) {
     return true;
   } else {
     ROS_ERROR("[%s]: not flying normally", ros::this_node::getName().c_str());
diff --git a/test/rtk_garmin/rtk_garmin_basic/test.cpp b/test/rtk_garmin/rtk_garmin_basic/test.cpp
index a53b9d9..1f62e73 100644
--- a/test/rtk_garmin/rtk_garmin_basic/test.cpp
+++ b/test/rtk_garmin/rtk_garmin_basic/test.cpp
@@ -10,8 +10,21 @@ class Tester : public mrs_uav_testing::TestGeneric {
 
 bool Tester::test() {
 
+  std::shared_ptr<mrs_uav_testing::UAVHandler> uh;
+
+  {
+    auto [uhopt, message] = getUAVHandler(_uav_name_);
+
+    if (!uhopt) {
+      ROS_ERROR("[%s]: Failed obtain handler for '%s': '%s'", ros::this_node::getName().c_str(), _uav_name_.c_str(), message.c_str());
+      return false;
+    }
+
+    uh = uhopt.value();
+  }
+
   {
-    auto [success, message] = activateMidAir();
+    auto [success, message] = uh->activateMidAir();
 
     if (!success) {
       ROS_ERROR("[%s]: midair activation failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str());
@@ -19,13 +32,13 @@ bool Tester::test() {
     }
   }
 
-  if (getActiveEstimator() != "rtk_garmin") {
+  if (uh->getActiveEstimator() != "rtk_garmin") {
     ROS_ERROR("[%s]: rtk_garmin estimator not active", ros::this_node::getName().c_str());
     return false;
   }
 
   {
-    auto [success, message] = this->gotoRel(10, 2, 1.5, 1.5);
+    auto [success, message] = uh->gotoRel(10, 2, 1.5, 1.5);
 
     if (!success) {
       ROS_ERROR("[%s]: goto failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str());
@@ -35,7 +48,7 @@ bool Tester::test() {
 
   this->sleep(5.0);
 
-  if (this->isFlyingNormally()) {
+  if (uh->isFlyingNormally()) {
     return true;
   } else {
     ROS_ERROR("[%s]: not flying normally", ros::this_node::getName().c_str());