diff --git a/ci/test-package.sh b/ci/test-package.sh
index 696816c43..06f2ff067 100755
--- a/ci/test-package.sh
+++ b/ci/test-package.sh
@@ -33,6 +33,8 @@ do
 done
 
 echo -e "\e[35m\e[1mPACKAGE     = ${PACKAGE}\e[0m"
+ROS_VERSION=$(docker exec -t tue-env bash -c 'source ~/.bashrc; echo "${ROS_VERSION}"' | tr -d '\r')
+echo -e "\e[35m\e[1mROS_VERSION = ${ROS_VERSION}\e[0m"
 
 # If packages is non-zero, this is a multi-package repo. In multi-package repo, check if this package needs CI.
 # If a single-package repo, CI is always needed.
@@ -43,10 +45,26 @@ then
     exit 0
 fi
 
-# Build test targets
-echo -e "\e[35m\e[1mBuild test targets of this package (catkin build --this --no-deps -DCATKIN_ENABLE_TESTING=ON)\e[0m"
-docker exec -t tue-env bash -c 'source ~/.bashrc; cd "$TUE_SYSTEM_DIR"/src/"$PACKAGE" && catkin build --this --no-status --no-deps -DCATKIN_ENABLE_TESTING=ON'
+# Use docker environment variables in all exec commands instead of script variables
+if [[ "${ROS_VERSION}" == 1 ]]
+then
+    # Build test targets
+    echo -e "\e[35m\e[1mBuild test targets of this package (catkin build --this --no-deps -DCATKIN_ENABLE_TESTING=ON)\e[0m"
+    docker exec -t tue-env bash -c 'source ~/.bashrc; cd "${TUE_SYSTEM_DIR}"/src/"${PACKAGE}" && catkin build --this --no-status --no-deps -DCATKIN_ENABLE_TESTING=ON'
+
+    # Run unit tests
+    echo -e "\e[35m\e[1mRun tests on this package (catkin test --this --no-deps -DCATKIN_ENABLE_TESTING=ON)\e[0m"
+    docker exec -t tue-env bash -c 'source ~/.bashrc; cd "${TUE_SYSTEM_DIR}"/src/"${PACKAGE}" && catkin test --this --no-status --no-deps -DCATKIN_ENABLE_TESTING=ON'
+else
+    # Build test targets
+    echo -e "\e[35m\e[1mBuild test targets of this package (colcon build --packages-select ${PACKAGE} --mixin rel-with-deb-info build-testing-on)\e[0m"
+    docker exec -t tue-env bash -c 'source ~/.bashrc; cd "${TUE_SYSTEM_DIR}" && colcon build --packages-select "${PACKAGE}" --mixin rel-with-deb-info build-testing-on'
 
-# Run unit tests
-echo -e "\e[35m\e[1mRun tests on this package (catkin test --this --no-deps -DCATKIN_ENABLE_TESTING=ON)\e[0m"
-docker exec -t tue-env bash -c 'source ~/.bashrc; cd "$TUE_SYSTEM_DIR"/src/"$PACKAGE" && catkin test --this --no-status --no-deps -DCATKIN_ENABLE_TESTING=ON'
+    # Run unit tests
+    echo -e "\e[35m\e[1mRun tests on this package (colcon test --packages-select ${PACKAGE})\e[0m"
+    docker exec -t tue-env bash -c 'source ~/.bashrc; cd "${TUE_SYSTEM_DIR}" && colcon test --packages-select "${PACKAGE}"'
+
+    # Check test results
+    echo -e "\e[35m\e[1mCheck test results (colcon test-result --verbose)\e[0m"
+    docker exec -t tue-env bash -c 'source ~/.bashrc; cd "${TUE_SYSTEM_DIR}" && colcon test-result --verbose'
+fi