diff --git a/CMakeLists.txt b/CMakeLists.txt
index 251c1ca..49b154a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -24,6 +24,8 @@ catkin_package(
   catkin-pip-setup.cmake
   catkin-pip-prefix.cmake
   catkin-pip-requirements.cmake
+  test/pytest.cmake
+  test/nosetests.cmake
 )
 
 # to be found in devel space
diff --git a/cmake/catkin-pip-fixups.req b/cmake/catkin-pip-fixups.req
index 81dcbf8..2cb636d 100644
--- a/cmake/catkin-pip-fixups.req
+++ b/cmake/catkin-pip-fixups.req
@@ -5,6 +5,10 @@
 
 # Upgrading to use latest nose
 nose
+# Also install pytest since we support it
+pytest
+pytest-cov
+pytest-timeout
 
 # Fixing security since python 2.7.6 on trusty is broken : https://stackoverflow.com/questions/29099404/ssl-insecureplatform-error-when-using-requests-package
 # On trusty it seems that installing libgnutls28-dev fixes the issue...
diff --git a/cmake/catkin-pip-prefix.cmake.in b/cmake/catkin-pip-prefix.cmake.in
index 52b5cfb..1578b6d 100644
--- a/cmake/catkin-pip-prefix.cmake.in
+++ b/cmake/catkin-pip-prefix.cmake.in
@@ -92,12 +92,20 @@ macro(catkin_pip_setup_prefix ws_prefix)
 
         # Providing another catkin nosetests usage...
         # now we can finally use the simple "nosetests" entry_point (forcing cmake to find it)
-        find_program( PIP_NOSETESTS NAMES nosetests PATHS ${ws_prefix}/@CATKIN_GLOBAL_BIN_DESTINATION@ NO_DEFAULT_PATH)
+        find_program( PIP_NOSETESTS NAMES "nosetests" "nosetests-${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}" PATHS ${ws_prefix}/@CATKIN_GLOBAL_BIN_DESTINATION@ NO_DEFAULT_PATH)
         if(PIP_NOSETESTS)
             message( STATUS "Found catkin_pip nosetests command at ${PIP_NOSETESTS}.")
         else()
             message( FATAL_ERROR "catkin_pip nosetests command not found in ${ws_prefix}/@CATKIN_GLOBAL_BIN_DESTINATION@. Make sure you have installed the nose pip package on your ${ws_prefix} workspace.")
         endif()
 
+        # Same for py.test
+        find_program( PIP_PYTEST NAMES "py.test" "py.test-${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}" PATHS ${ws_prefix}/@CATKIN_GLOBAL_BIN_DESTINATION@ NO_DEFAULT_PATH)
+        if(PIP_PYTEST)
+            message( STATUS "Found catkin_pip py.test command at ${PIP_PYTEST}.")
+        else()
+            message( FATAL_ERROR "catkin_pip py.test command not found in ${ws_prefix}/@CATKIN_GLOBAL_BIN_DESTINATION@. Make sure you have installed the pytest pip package on your ${ws_prefix} workspace.")
+        endif()
+
     endif()
 endmacro()
\ No newline at end of file
diff --git a/cmake/catkin-pip.cmake.in b/cmake/catkin-pip.cmake.in
index d662764..d0aa75b 100644
--- a/cmake/catkin-pip.cmake.in
+++ b/cmake/catkin-pip.cmake.in
@@ -11,13 +11,13 @@ message(STATUS "Loading catkin-pip.cmake from ${CMAKE_CURRENT_LIST_DIR}... ")
 # protecting against missing cmake file dependency
 include ( "${CMAKE_CURRENT_LIST_DIR}/catkin-pip-requirements.cmake" RESULT_VARIABLE CATKIN_PIP_REQUIREMENTS_FOUND )
 IF ( NOT CATKIN_PIP_REQUIREMENTS_FOUND )
-    message ( FATAL_ERROR "{CMAKE_CURRENT_LIST_DIR}/catkin-pip-requirements.cmake Not Found !!!" )
+    message ( FATAL_ERROR "${CMAKE_CURRENT_LIST_DIR}/catkin-pip-requirements.cmake Not Found !!!" )
 ENDIF ( NOT CATKIN_PIP_REQUIREMENTS_FOUND )
 
 # protecting against missing cmake file dependency
 include ( "${CMAKE_CURRENT_LIST_DIR}/catkin-pip-setup.cmake" RESULT_VARIABLE CATKIN_PIP_SETUP_FOUND )
 IF ( NOT CATKIN_PIP_SETUP_FOUND )
-    message ( FATAL_ERROR "{CMAKE_CURRENT_LIST_DIR}/catkin-pip-setup.cmake Not Found !!!" )
+    message ( FATAL_ERROR "${CMAKE_CURRENT_LIST_DIR}/catkin-pip-setup.cmake Not Found !!!" )
 ENDIF ( NOT CATKIN_PIP_SETUP_FOUND )
 
 catkin_add_env_hooks(42.site-packages SHELLS bash DIRECTORY ${CMAKE_CURRENT_LIST_DIR}/../env-hooks)
diff --git a/cmake/test/nosetests.cmake.in b/cmake/test/nosetests.cmake.in
new file mode 100644
index 0000000..24d6804
--- /dev/null
+++ b/cmake/test/nosetests.cmake.in
@@ -0,0 +1,120 @@
+_generate_function_if_testing_is_disabled("catkin_add_nosetests")
+
+#
+# Add Python nose tests.
+#
+# Nose collects tests from the directory ``dir`` automatically.
+#
+# .. note:: The test can be executed by calling ``nosetests``
+#   directly or using:
+#   `` make run_tests_${PROJECT_NAME}_nosetests_${dir}``
+#   (where slashes in the ``dir`` are replaced with periods)
+#
+# :param path: a relative or absolute directory to search for
+#   nosetests in or a relative or absolute file containing tests
+# :type path: string
+# :param DEPENDENCIES: the targets which must be built before executing
+#   the test
+# :type DEPENDENCIES: list of strings
+# :param TIMEOUT: the timeout for individual tests in seconds
+#   (default: 60)
+# :type TIMEOUT: integer
+# :param WORKING_DIRECTORY: the working directory when executing the
+#   tests (this option can only be used when the ``path`` argument is a
+#   file  but not when it is a directory)
+# :type WORKING_DIRECTORY: string
+#
+# @public
+#
+function(catkin_add_nosetests path)
+  _warn_if_skip_testing("catkin_add_nosetests")
+
+  if(NOT PIP_NOSETESTS)
+    message(STATUS "skipping nosetests(${path}) in project '${PROJECT_NAME}'")
+    return()
+  endif()
+
+  cmake_parse_arguments(_nose "" "TIMEOUT;WORKING_DIRECTORY" "DEPENDENCIES" ${ARGN})
+  if(NOT _nose_TIMEOUT)
+    set(_nose_TIMEOUT 60)
+  endif()
+  if(NOT _nose_TIMEOUT GREATER 0)
+    message(FATAL_ERROR "nosetests() TIMEOUT argument must be a valid number of seconds greater than zero")
+  endif()
+
+  # check that the directory exists
+  set(_path_name _path_name-NOTFOUND)
+  if(IS_ABSOLUTE ${path})
+    set(_path_name ${path})
+  else()
+    find_file(_path_name ${path}
+      PATHS ${CMAKE_CURRENT_SOURCE_DIR}
+      NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+    if(NOT _path_name)
+      message(FATAL_ERROR "Can't find nosetests path '${path}'")
+    endif()
+  endif()
+
+  # check if coverage reports are being requested
+  if("$ENV{CATKIN_TEST_COVERAGE}" STREQUAL "1")
+    set(_covarg " --with-coverage")
+  endif()
+
+  # strip PROJECT_SOURCE_DIR and PROJECT_BINARY_DIR prefix from output_file_name
+  set(output_file_name ${path})
+  _strip_path_prefix(output_file_name "${output_file_name}" "${PROJECT_SOURCE_DIR}")
+  _strip_path_prefix(output_file_name "${output_file_name}" "${PROJECT_BINARY_DIR}")
+  if("${output_file_name}" STREQUAL "")
+    set(output_file_name ".")
+  endif()
+  string(REPLACE "/" "." output_file_name ${output_file_name})
+  string(REPLACE ":" "." output_file_name ${output_file_name})
+
+  set(output_path ${CATKIN_TEST_RESULTS_DIR}/${PROJECT_NAME})
+  # make --xunit-file argument an absolute path (https://github.com/nose-devs/nose/issues/779)
+  get_filename_component(output_path "${output_path}" ABSOLUTE)
+  set(cmd "${CMAKE_COMMAND} -E make_directory ${output_path}")
+  if(IS_DIRECTORY ${_path_name})
+    set(tests "--where=${_path_name}")
+  else()
+    set(tests "${_path_name}")
+  endif()
+  set(cmd ${cmd} "${PIP_NOSETESTS} -P --process-timeout=${_nose_TIMEOUT} ${tests} --with-xunit --xunit-file=${output_path}/nosetests-${output_file_name}.xml${_covarg}")
+  catkin_run_tests_target("nosetests" ${output_file_name} "nosetests-${output_file_name}.xml" COMMAND ${cmd} DEPENDENCIES ${_nose_DEPENDENCIES} WORKING_DIRECTORY ${_nose_WORKING_DIRECTORY})
+endfunction()
+
+find_program(PIP_NOSETESTS NAMES
+  "nosetests${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}"
+  "nosetests-${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}"
+  "nosetests${PYTHON_VERSION_MAJOR}"
+  "nosetests-${PYTHON_VERSION_MAJOR}"
+  "nosetests")
+if(PIP_NOSETESTS)
+  message(STATUS "Using Python nosetests: ${PIP_NOSETESTS}")
+else()
+  if("${PYTHON_VERSION_MAJOR}" STREQUAL "3")
+    message(WARNING "nosetests not found, Python tests can not be run (try installing package 'python3-nose')")
+  else()
+    message(WARNING "nosetests not found, Python tests can not be run (try installing package 'python-nose')")
+  endif()
+endif()
+
+macro(_strip_path_prefix var value prefix)
+  if("${value}" STREQUAL "${prefix}" OR "${value}" STREQUAL "${prefix}/")
+    set(${var} "")
+  else()
+    set(${var} "${value}")
+    string(LENGTH "${prefix}/" prefix_length)
+    string(LENGTH "${value}" var_length)
+    if(${var_length} GREATER ${prefix_length})
+      string(SUBSTRING "${value}" 0 ${prefix_length} var_prefix)
+      if("${var_prefix}" STREQUAL "${prefix}/")
+        # passing length -1 does not work for CMake < 2.8.5
+        # http://public.kitware.com/Bug/view.php?id=10740
+        string(LENGTH "${value}" _rest)
+        math(EXPR _rest "${_rest} - ${prefix_length}")
+        string(SUBSTRING "${value}" ${prefix_length} ${_rest} ${var})
+      endif()
+    endif()
+  endif()
+endmacro()
\ No newline at end of file
diff --git a/cmake/test/pytest.cmake.in b/cmake/test/pytest.cmake.in
new file mode 100644
index 0000000..1adfa7f
--- /dev/null
+++ b/cmake/test/pytest.cmake.in
@@ -0,0 +1,101 @@
+_generate_function_if_testing_is_disabled("catkin_add_pytests")
+
+include ( "${CMAKE_CURRENT_LIST_DIR}/nosetests.cmake" RESULT_VARIABLE CATKIN_PIP_NOSETESTS_FOUND )
+IF ( NOT CATKIN_PIP_NOSETESTS_FOUND )
+    message ( FATAL_ERROR "${CMAKE_CURRENT_LIST_DIR}/nosetests.cmake Not Found !!!" )
+ENDIF ( NOT CATKIN_PIP_NOSETESTS_FOUND )
+
+#
+# Add Python pytest tests.
+#
+# Nose collects tests from the directory ``dir`` automatically.
+#
+# .. note:: The test can be executed by calling ``py.test``
+#   directly or using:
+#   `` make run_tests_${PROJECT_NAME}_pytests_${dir}``
+#   (where slashes in the ``dir`` are replaced with periods)
+#
+# :param path: a relative or absolute directory to search for
+#   pytests in or a relative or absolute file containing tests
+# :type path: string
+# :param DEPENDENCIES: the targets which must be built before executing
+#   the test
+# :type DEPENDENCIES: list of strings
+# :param TIMEOUT: the timeout for individual tests in seconds
+#   (default: 60)
+# :type TIMEOUT: integer
+# :param WORKING_DIRECTORY: the working directory when executing the
+#   tests (this option can only be used when the ``path`` argument is a
+#   file  but not when it is a directory)
+# :type WORKING_DIRECTORY: string
+#
+# @public
+#
+function(catkin_add_pytests path)
+  _warn_if_skip_testing("catkin_add_pytests")
+
+  if(NOT PIP_PYTEST)
+    message(STATUS "skipping pytests(${path}) in project '${PROJECT_NAME}'")
+    return()
+  endif()
+
+  cmake_parse_arguments(_pytest "" "TIMEOUT;WORKING_DIRECTORY" "DEPENDENCIES" ${ARGN})
+  if(NOT _pytest_TIMEOUT)
+    set(_pytest_TIMEOUT 60)
+  endif()
+  if(NOT _pytest_TIMEOUT GREATER 0)
+    message(FATAL_ERROR "py.test() TIMEOUT argument must be a valid number of seconds greater than zero")
+  endif()
+
+  # check that the directory exists
+  set(_path_name _path_name-NOTFOUND)
+  if(IS_ABSOLUTE ${path})
+    set(_path_name ${path})
+  else()
+    find_file(_path_name ${path}
+      PATHS ${CMAKE_CURRENT_SOURCE_DIR}
+      NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+    if(NOT _path_name)
+      message(FATAL_ERROR "Can't find pytests path '${path}'")
+    endif()
+  endif()
+
+  # check if coverage reports are being requested
+  if("$ENV{CATKIN_TEST_COVERAGE}" STREQUAL "1")
+    set(_covarg "--cov-report xml --cov-report annotate --cov=${PROJECT_SOURCE_DIR}")
+  endif()
+
+  # strip PROJECT_SOURCE_DIR and PROJECT_BINARY_DIR prefix from output_file_name
+  set(output_file_name ${path})
+  _strip_path_prefix(output_file_name "${output_file_name}" "${PROJECT_SOURCE_DIR}")
+  _strip_path_prefix(output_file_name "${output_file_name}" "${PROJECT_BINARY_DIR}")
+  if("${output_file_name}" STREQUAL "")
+    set(output_file_name ".")
+  endif()
+  string(REPLACE "/" "." output_file_name ${output_file_name})
+  string(REPLACE ":" "." output_file_name ${output_file_name})
+
+  set(output_path ${CATKIN_TEST_RESULTS_DIR}/${PROJECT_NAME})
+  # make --xunit-file argument an absolute path (https://github.com/nose-devs/nose/issues/779)
+  get_filename_component(output_path "${output_path}" ABSOLUTE)
+  set(cmd "${CMAKE_COMMAND} -E make_directory ${output_path}")
+  set(tests "${_path_name}")
+  set(cmd ${cmd} "${PY_TEST} --timeout=${_pytest_TIMEOUT} ${tests} --junit-xml ${output_path}/pytests-${output_file_name}.xml ${_covarg}")
+  catkin_run_tests_target("pytests" ${output_file_name} "pytests-${output_file_name}.xml" COMMAND ${cmd} DEPENDENCIES ${_pytest_DEPENDENCIES} WORKING_DIRECTORY ${_pytest_WORKING_DIRECTORY})
+endfunction()
+
+find_program(PY_TEST NAMES
+  "py.test${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}"
+  "py.test-${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}"
+  "py.test${PYTHON_VERSION_MAJOR}"
+  "py.test-${PYTHON_VERSION_MAJOR}"
+  "py.test")
+if(PY_TEST)
+  message(STATUS "Using Python py.test: ${PY_TEST}")
+else()
+  if("${PYTHON_VERSION_MAJOR}" STREQUAL "3")
+    message(WARNING "py.test not found, Python tests can not be run (try installing package 'python3-pytest')")
+  else()
+    message(WARNING "py.test not found, Python tests can not be run (try installing package 'python-pytest')")
+  endif()
+endif()
diff --git a/test/pipproject/CMakeLists.txt b/test/pipproject/CMakeLists.txt
index 1b5d2ea..32ef48c 100644
--- a/test/pipproject/CMakeLists.txt
+++ b/test/pipproject/CMakeLists.txt
@@ -28,4 +28,5 @@ catkin_package()
 ## Unit tests
 if (CATKIN_ENABLE_TESTING)
     catkin_add_nosetests(${PIP_PROJECT_DIR}/tests)
+    catkin_add_pytests(${PIP_PROJECT_DIR}/tests)
 endif()