diff --git a/ros_gz_sim/CMakeLists.txt b/ros_gz_sim/CMakeLists.txt
index 514587de..7f420e09 100644
--- a/ros_gz_sim/CMakeLists.txt
+++ b/ros_gz_sim/CMakeLists.txt
@@ -123,11 +123,15 @@ if(BUILD_TESTING)
 
   # GTest
   find_package(ament_cmake_gtest REQUIRED)
+  find_package(launch_testing_ament_cmake REQUIRED)
   ament_find_gtest()
 
   ament_add_gtest_executable(test_stopwatch
     test/test_stopwatch.cpp
   )
+  ament_add_gtest_executable(test_create
+    test/test_create.cpp
+  )
 
   ament_target_dependencies(test_stopwatch rclcpp)
 
@@ -139,12 +143,16 @@ if(BUILD_TESTING)
   target_link_libraries(test_stopwatch
     ${PROJECT_NAME}
   )
+  target_link_libraries(test_create
+    ${GZ_TARGET_PREFIX}-transport${GZ_TRANSPORT_VER}::core
+  )
 
   install(
-    TARGETS test_stopwatch
+    TARGETS test_stopwatch test_create
     DESTINATION lib/${PROJECT_NAME}
   )
   ament_add_gtest_test(test_stopwatch)
+  add_launch_test(test/test_create_node.launch.py TIMEOUT 200)
 endif()
 
 ament_package()
diff --git a/ros_gz_sim/package.xml b/ros_gz_sim/package.xml
index bec29ff7..a4cad906 100644
--- a/ros_gz_sim/package.xml
+++ b/ros_gz_sim/package.xml
@@ -33,6 +33,9 @@
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  <test_depend>launch_testing_ament_cmake</test_depend>
+  <test_depend>launch_ros</test_depend>
+  <test_depend>launch_testing</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/ros_gz_sim/src/create.cpp b/ros_gz_sim/src/create.cpp
index 09bbfec0..3fa5bbcc 100644
--- a/ros_gz_sim/src/create.cpp
+++ b/ros_gz_sim/src/create.cpp
@@ -59,7 +59,9 @@ int main(int _argc, char ** _argv)
   char ** filtered_argv = new char *[(filtered_argc + 1)];
   for (int ii = 0; ii < filtered_argc; ++ii) {
     filtered_argv[ii] = new char[filtered_arguments[ii].size() + 1];
-    snprintf(filtered_argv[ii], sizeof(filtered_argv), "%s", filtered_arguments[ii].c_str());
+    snprintf(
+      filtered_argv[ii],
+      filtered_arguments[ii].size() + 1, "%s", filtered_arguments[ii].c_str());
   }
   filtered_argv[filtered_argc] = nullptr;
 
diff --git a/ros_gz_sim/test/test_create.cpp b/ros_gz_sim/test/test_create.cpp
new file mode 100644
index 00000000..ee92bf39
--- /dev/null
+++ b/ros_gz_sim/test/test_create.cpp
@@ -0,0 +1,56 @@
+// Copyright 2023 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+
+#include <gz/msgs/boolean.pb.h>
+#include <gz/msgs/entity_factory.pb.h>
+#include <csignal>
+#include <chrono>
+#include <condition_variable>
+#include <functional>
+#include <mutex>
+#include <gz/transport/Node.hh>
+
+// Simple application that provides a `/create` service and prints out the
+// sdf_filename of the request. This works in conjection with
+// test_create_node.launch.py
+int main()
+{
+  std::mutex m;
+  std::condition_variable cv;
+  bool test_complete = false;
+
+  gz::transport::Node node;
+  auto cb = std::function(
+    [&](
+      const gz::msgs::EntityFactory & _req,
+      gz::msgs::Boolean & _res) -> bool {
+      std::cout << _req.sdf_filename() << std::endl;
+      _res.set_data(true);
+
+      {
+        std::lock_guard<std::mutex> lk(m);
+        test_complete = true;
+      }
+      cv.notify_one();
+      return true;
+    });
+
+  node.Advertise("/world/default/create", cb);
+  // wait until we receive a message.
+  std::unique_lock<std::mutex> lk(m);
+  cv.wait(lk, [&] {return test_complete;});
+  // Sleep so that the service response can be sent before exiting.
+  std::this_thread::sleep_for(std::chrono::seconds(1));
+}
diff --git a/ros_gz_sim/test/test_create_node.launch.py b/ros_gz_sim/test/test_create_node.launch.py
new file mode 100644
index 00000000..14710f58
--- /dev/null
+++ b/ros_gz_sim/test/test_create_node.launch.py
@@ -0,0 +1,47 @@
+# Copyright 2023 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import unittest
+
+from launch import LaunchDescription
+
+from launch_ros.actions import Node
+
+import launch_testing
+
+
+def generate_test_description():
+    expected_file_name = 'nonexistent/long/file_name'
+    create = Node(package='ros_gz_sim', executable='create',
+                  arguments=['-world', 'default', '-file', expected_file_name], output='screen')
+    test_create = Node(package='ros_gz_sim', executable='test_create', output='screen')
+    return LaunchDescription([
+        create,
+        test_create,
+        launch_testing.util.KeepAliveProc(),
+        launch_testing.actions.ReadyToTest(),
+    ]), locals()
+
+
+class WaitForTests(unittest.TestCase):
+
+    def test_termination(self, test_create, proc_info):
+        proc_info.assertWaitForShutdown(process=test_create, timeout=200)
+
+
+@launch_testing.post_shutdown_test()
+class CreateTest(unittest.TestCase):
+
+    def test_output(self, expected_file_name, test_create, proc_output):
+        launch_testing.asserts.assertInStdout(proc_output, expected_file_name, test_create)