diff --git a/etsi_its_msgs_utils/CMakeLists.txt b/etsi_its_msgs_utils/CMakeLists.txt
index 552a265b7..7fe623f33 100644
--- a/etsi_its_msgs_utils/CMakeLists.txt
+++ b/etsi_its_msgs_utils/CMakeLists.txt
@@ -55,6 +55,18 @@ if(${ROS_VERSION} EQUAL 2)
       GeographicLib
       geometry_msgs
     )
+    find_package(ament_cmake_gtest REQUIRED)
+    ament_add_gtest(${PROJECT_NAME}-cam_ts_test test/test_cam_ts_access.ros2.cpp)
+    target_include_directories(${PROJECT_NAME}-cam_ts_test PUBLIC
+      $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+      $<INSTALL_INTERFACE:include>
+    )
+    target_include_directories(${PROJECT_NAME}-cam_ts_test PUBLIC test)
+    ament_target_dependencies(${PROJECT_NAME}-cam_ts_test
+      etsi_its_msgs
+      GeographicLib
+      geometry_msgs
+    )
     ament_add_gtest(${PROJECT_NAME}-denm_test test/test_denm_access.ros2.cpp)
     target_include_directories(${PROJECT_NAME}-denm_test PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
diff --git a/etsi_its_msgs_utils/test/impl/test_cam_ts_access.cpp b/etsi_its_msgs_utils/test/impl/test_cam_ts_access.cpp
new file mode 100644
index 000000000..c6b7a57bb
--- /dev/null
+++ b/etsi_its_msgs_utils/test/impl/test_cam_ts_access.cpp
@@ -0,0 +1,121 @@
+#include <cmath>
+#include <limits>
+#include <random>
+#include <chrono>
+#include <ctime>
+
+#include <gtest/gtest.h>
+
+std::default_random_engine random_engine;
+
+
+double randomDouble(double min, double max) {
+  std::uniform_real_distribution<double> uniform_distribution_double(min, max);
+  return uniform_distribution_double(random_engine);
+}
+
+int randomInt(int min, int max) {
+  std::uniform_int_distribution<int> uniform_distribution_int(min, max);
+  return uniform_distribution_int(random_engine);
+}
+
+TEST(etsi_its_cam_ts_msgs, test_set_get_cam) {
+
+  CAM cam;
+
+  int station_id = randomInt(StationId::MIN,StationId::MAX);
+  int protocol_version = randomInt(OrdinalNumber1B::MIN,OrdinalNumber1B::MAX);
+  setItsPduHeader(cam, station_id, protocol_version);
+  EXPECT_EQ(MessageId::CAM, cam.header.message_id.value);
+  EXPECT_EQ(protocol_version, cam.header.protocol_version.value);
+  EXPECT_EQ(station_id, getStationID(cam));
+
+  // https://www.etsi.org/deliver/etsi_ts/102800_102899/10289402/01.02.01_60/ts_10289402v010201p.pdf
+  // DE_TimestampITS
+  // The value for TimestampIts for 2007-01-01T00:00:00.000Z is
+  // 94694401000 milliseconds, which includes one leap second insertion
+  // since 2004-01-01T00:00:00.000Z.
+  uint64_t t_2007 = ((uint64_t)1167609600)*1e9;
+  TimestampIts t_its;
+  EXPECT_EQ(1, etsi_its_msgs::getLeapSecondInsertionsSince2004(t_2007*1e-9));
+  etsi_its_cam_ts_msgs::access::setTimestampITS(t_its, t_2007, etsi_its_msgs::getLeapSecondInsertionsSince2004(t_2007*1e-9));
+  EXPECT_EQ(94694401000, t_its.value);
+  setGenerationDeltaTime(cam, t_2007, etsi_its_msgs::getLeapSecondInsertionsSince2004(t_2007*1e-9));
+  EXPECT_EQ(94694401000%65536, getGenerationDeltaTimeValue(cam));
+  TimestampIts t_its2;
+  uint64_t t_2007_off = t_2007 + 5*1e9;
+  etsi_its_cam_ts_msgs::access::setTimestampITS(t_its2, t_2007_off, etsi_its_msgs::getLeapSecondInsertionsSince2004(t_2007*1e-9));
+  EXPECT_EQ(94694401000, getTimestampITSFromGenerationDeltaTime(getGenerationDeltaTime(cam), t_its2).value);
+  EXPECT_EQ(t_2007, getUnixNanosecondsFromGenerationDeltaTime(getGenerationDeltaTime(cam), t_its2, etsi_its_msgs::getLeapSecondInsertionsSince2004(t_2007*1e-9)));
+  EXPECT_EQ(t_2007, getUnixNanosecondsFromGenerationDeltaTime(getGenerationDeltaTime(cam), t_2007_off, etsi_its_msgs::getLeapSecondInsertionsSince2004(t_2007*1e-9)));
+
+  int stationType_val = randomInt(TrafficParticipantType::MIN, TrafficParticipantType::MAX);
+  setStationType(cam, stationType_val);
+  EXPECT_EQ(stationType_val, getStationType(cam));
+
+  double latitude = randomDouble(-90.0, 90.0);
+  double longitude = randomDouble(-180.0, 180.0);
+  setReferencePosition(cam, latitude, longitude);
+  EXPECT_NEAR(latitude, getLatitude(cam), 1e-7);
+  EXPECT_NEAR(longitude, getLongitude(cam), 1e-7);
+  latitude = randomDouble(-90.0, 90.0);
+  longitude = randomDouble(-180.0, 180.0);
+  double altitude = randomDouble(-1000.0, 8000.0);
+  setReferencePosition(cam, latitude, longitude, altitude);
+  EXPECT_NEAR(latitude, getLatitude(cam), 1e-7);
+  EXPECT_NEAR(longitude, getLongitude(cam), 1e-7);
+  EXPECT_NEAR(altitude, getAltitude(cam), 1e-2);
+
+  // Set specific position to test utm projection
+  latitude = 50.787467;
+  longitude = 6.046498;
+  altitude = 209.0;
+  setReferencePosition(cam, latitude, longitude, altitude);
+  int zone;
+  bool northp;
+  gm::PointStamped utm = getUTMPosition(cam, zone, northp);
+  EXPECT_NEAR(291827.02, utm.point.x, 1e-1);
+  EXPECT_NEAR(5630349.72, utm.point.y, 1e-1);
+  EXPECT_EQ(altitude, utm.point.z);
+  EXPECT_EQ(32, zone);
+  EXPECT_EQ(true, northp);
+  setFromUTMPosition(cam, utm, zone, northp);
+  EXPECT_NEAR(latitude, getLatitude(cam), 1e-7);
+  EXPECT_NEAR(longitude, getLongitude(cam), 1e-7);
+  EXPECT_NEAR(altitude, getAltitude(cam), 1e-2);
+
+  double heading_val = randomDouble(0.0, 360.0);
+  setHeading(cam, heading_val);
+  EXPECT_NEAR(heading_val, getHeading(cam), 1e-1);
+
+  double length = randomDouble(0.0, 102.2);
+  double width = randomDouble(0.0, 6.2);
+  setVehicleDimensions(cam, length, width);
+  EXPECT_NEAR(length, getVehicleLength(cam), 1e-1);
+  EXPECT_NEAR(width, getVehicleWidth(cam), 1e-1);
+
+  double speed_val = randomDouble(0.0, 163.82);
+  setSpeed(cam, speed_val);
+  EXPECT_NEAR(speed_val, getSpeed(cam), 1e-2);
+
+  double lon_accel = randomDouble(-16.0, 16.0);
+  double lat_accel = randomDouble(-16.0, 16.0);
+  setLongitudinalAcceleration(cam, lon_accel);
+  EXPECT_NEAR(lon_accel, getLongitudinalAcceleration(cam), 1e-1);
+  setLateralAcceleration(cam, lat_accel);
+  EXPECT_NEAR(lat_accel, getLateralAcceleration(cam), 1e-1);
+
+  std::vector<bool> exterior_lights(ExteriorLights::SIZE_BITS);
+  for (int i = 0; i < ExteriorLights::SIZE_BITS; i++) {
+    exterior_lights.at(i) = randomInt(0, 1);
+  }
+  cam.cam.cam_parameters.low_frequency_container_is_present = true;
+  cam.cam.cam_parameters.low_frequency_container.choice = LowFrequencyContainer::CHOICE_BASIC_VEHICLE_CONTAINER_LOW_FREQUENCY;
+  setExteriorLights(cam, exterior_lights);
+  EXPECT_EQ(exterior_lights, getExteriorLights(cam));
+}
+
+int main(int argc, char *argv[]) {
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
diff --git a/etsi_its_msgs_utils/test/test_cam_ts_access.ros2.cpp b/etsi_its_msgs_utils/test/test_cam_ts_access.ros2.cpp
new file mode 100644
index 000000000..ab45d10bc
--- /dev/null
+++ b/etsi_its_msgs_utils/test/test_cam_ts_access.ros2.cpp
@@ -0,0 +1,10 @@
+
+#include <etsi_its_cam_ts_msgs/msg/cam.hpp>
+
+#include <etsi_its_msgs_utils/cam_ts_access.hpp>
+
+using namespace etsi_its_cam_ts_msgs::msg;
+using namespace etsi_its_cam_ts_msgs::access;
+namespace gm = geometry_msgs::msg;
+
+#include <impl/test_cam_ts_access.cpp>