diff --git a/pr2eus/test/pr2-ri-test-base.launch b/pr2eus/test/pr2-ri-test-base.launch
index fe974c24..27ea675f 100644
--- a/pr2eus/test/pr2-ri-test-base.launch
+++ b/pr2eus/test/pr2-ri-test-base.launch
@@ -4,6 +4,6 @@
            pass_all_args="true" />
 
   <!-- start test -->
-  <test test-name="pr2_ri_test_base" pkg="roseus" type="roseus" retry="1"
+  <test test-name="pr2_ri_test_base" pkg="roseus" type="roseus" retry="3"
         args="$(find pr2eus)/test/pr2-ri-test-base.l" time-limit="800" />
 </launch>
diff --git a/pr2eus/test/pr2-ri-test-simple.launch b/pr2eus/test/pr2-ri-test-simple.launch
index 917cd686..5c2abe0e 100644
--- a/pr2eus/test/pr2-ri-test-simple.launch
+++ b/pr2eus/test/pr2-ri-test-simple.launch
@@ -3,6 +3,10 @@
   <env name="DISPLAY" value="$(arg DISPLAY)" />
 
   <!-- start test -->
-  <test test-name="pr2_ri_test_simple_no_gazebo" pkg="roseus" type="roseus"
-	args="$(find pr2eus)/test/pr2-ri-test-simple.l" time-limit="1800" />
+  <test test-name="pr2_ri_test_simple_no_gazebo_angle_vector" pkg="roseus" type="roseus" retry="3"
+        args="$(find pr2eus)/test/pr2-ri-test-simple-angle-vector.l" time-limit="800" />
+  <test test-name="pr2_ri_test_simple_no_gazebo_go_pos" pkg="roseus" type="roseus" retry="3"
+        args="$(find pr2eus)/test/pr2-ri-test-simple-go-pos.l" time-limit="800" />
+  <test test-name="pr2_ri_test_simple_no_gazebo_sensor_model" pkg="roseus" type="roseus" retry="3"
+        args="$(find pr2eus)/test/pr2-ri-test-simple-sensor-model.l" time-limit="800" />
 </launch>
diff --git a/pr2eus/test/pr2-ri-test.launch b/pr2eus/test/pr2-ri-test.launch
index c99134f2..b446b05a 100644
--- a/pr2eus/test/pr2-ri-test.launch
+++ b/pr2eus/test/pr2-ri-test.launch
@@ -4,6 +4,10 @@
            pass_all_args="true" />
 
   <!-- start test -->
-  <test test-name="pr2_ri_test_simple" pkg="roseus" type="roseus" retry="1"
-        args="$(find pr2eus)/test/pr2-ri-test-simple.l" time-limit="800" />
+  <test test-name="pr2_ri_test_simple_angle_vector" pkg="roseus" type="roseus" retry="3"
+        args="$(find pr2eus)/test/pr2-ri-test-simple-angle-vector.l" time-limit="800" />
+  <test test-name="pr2_ri_test_simple_go_pos" pkg="roseus" type="roseus" retry="3"
+        args="$(find pr2eus)/test/pr2-ri-test-simple-go-pos.l" time-limit="800" />
+  <test test-name="pr2_ri_test_simple_sensor_model" pkg="roseus" type="roseus" retry="3"
+        args="$(find pr2eus)/test/pr2-ri-test-simple-sensor-model.l" time-limit="800" />
 </launch>