diff --git a/CMakeLists.txt b/CMakeLists.txt
index 25d0dd8..17dbf6a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -7,7 +7,6 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 find_package(ament_cmake REQUIRED)
-find_package(ament_cmake_pytest REQUIRED)
 
 find_package(rclcpp REQUIRED)
 find_package(sensor_msgs REQUIRED)
@@ -71,7 +70,6 @@ if(BUILD_TESTING)
   ament_uncrustify()
 
   find_package(ament_cmake_gtest REQUIRED)
-  find_package(ament_cmake_gmock REQUIRED)
 
   ament_add_gtest(projection_test
     test/projection_test.cpp
@@ -80,10 +78,24 @@ if(BUILD_TESTING)
     target_link_libraries(projection_test laser_geometry)
   endif()
 
+  # Python test
+  # Provides PYTHON_EXECUTABLE_DEBUG
+  find_package(python_cmake_module REQUIRED)
+  find_package(PythonExtra REQUIRED)
+
+  set(_PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE}")
+  if(WIN32 AND CMAKE_BUILD_TYPE STREQUAL "Debug")
+    set(PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE_DEBUG}")
+  endif()
+
+  find_package(ament_cmake_pytest REQUIRED)
+
   ament_add_pytest_test(projection test/projection_test.py
     TIMEOUT 120
-    WERROR ON
+    PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE}"
   )
+
+  set(PYTHON_EXECUTABLE "${_PYTHON_EXECUTABLE}")
 endif()
 
 ament_package()
diff --git a/package.xml b/package.xml
index 2b4a48d..7e93dca 100644
--- a/package.xml
+++ b/package.xml
@@ -24,7 +24,6 @@
   <url>http://ros.org/wiki/laser_geometry</url>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
-  <buildtool_depend>ament_cmake_pytest</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
   <buildtool_export_depend>eigen3_cmake_module</buildtool_export_depend>
@@ -36,20 +35,20 @@
 
   <build_export_depend>eigen</build_export_depend>
 
+  <exec_depend>python3-numpy</exec_depend>
   <exec_depend>rclcpp</exec_depend>
+  <exec_depend>rclpy</exec_depend>
   <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>sensor_msgs_py</exec_depend>
   <exec_depend>tf2</exec_depend>
 
-  <exec_depend>ament_cmake</exec_depend>
-
   <test_depend>ament_cmake_cppcheck</test_depend>
   <test_depend>ament_cmake_cpplint</test_depend>
   <test_depend>ament_cmake_gtest</test_depend>
-  <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>ament_cmake_lint_cmake</test_depend>
+  <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>ament_cmake_uncrustify</test_depend>
-  <test_depend>rclpy</test_depend>
-  <test_depend>sensor_msgs_py</test_depend>
+  <test_depend>python_cmake_module</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/pytest.ini b/pytest.ini
new file mode 100644
index 0000000..eded8a3
--- /dev/null
+++ b/pytest.ini
@@ -0,0 +1,3 @@
+; Needed to suppress warnings from pytest about the default junit_family
+[pytest]
+junit_family=xunit2
diff --git a/src/laser_geometry/laser_geometry.py b/src/laser_geometry/laser_geometry.py
index 227e1ff..7c9cb07 100644
--- a/src/laser_geometry/laser_geometry.py
+++ b/src/laser_geometry/laser_geometry.py
@@ -38,11 +38,11 @@ class LaserProjection:
     """
     A class to Project Laser Scan
 
-    This calls will project laser scans into point clouds. It caches
+    This class will project laser scans into point clouds. It caches
     unit vectors between runs (provided the angular resolution of
     your scanner is not changing) to avoid excess computation.
 
-    By default all range values less thatn the scanner min_range,
+    By default all range values less than the scanner min_range or
     greater than the scanner max_range are removed from the generated
     point cloud, as these are assumed to be invalid.
 
diff --git a/test/projection_test.py b/test/projection_test.py
index 0b16d39..21ac4e1 100755
--- a/test/projection_test.py
+++ b/test/projection_test.py
@@ -44,10 +44,10 @@ def test_project_laser():
     tolerance = 6 # decimal places
     projector = LaserProjection()
 
-    ranges = [-1.0, 1.0, 2.0, 3.0, 4.0, 5.0, 100.0]
-    intensities = np.arange(1.0, 6.0).tolist()
+    ranges = [-1.0, 1.0, 5.0, 100.0]
+    intensities = np.arange(1.0, 4.0).tolist()
 
-    min_angles = -np.pi / np.array([1.0, 1.5, 2.0, 4.0, 8.0])
+    min_angles = -np.pi / np.array([1.0, 1.5, 8.0])
     max_angles = -min_angles
 
     angle_increments = np.pi / np.array([180., 360., 720.])
@@ -65,32 +65,6 @@ def test_project_laser():
         except BuildScanException:
             assert (angle_max - angle_min)/angle_increment <= 0
 
-        cloud_out = projector.projectLaser(scan, -1.0,
-                LaserProjection.ChannelOption.INDEX)
-        assert len(cloud_out.fields) == 4, \
-                "PointCloud2 with channel INDEX: fields size != 4"
-
-        cloud_out = projector.projectLaser(scan, -1.0,
-                LaserProjection.ChannelOption.INTENSITY)
-        assert len(cloud_out.fields) == 4, \
-                "PointCloud2 with channel INDEX: fields size != 4"
-
-        cloud_out = projector.projectLaser(scan, -1.0)
-        assert len(cloud_out.fields) == 5, \
-                "PointCloud2 with channel INDEX: fields size != 5"
-        cloud_out = projector.projectLaser(scan, -1.0,
-                LaserProjection.ChannelOption.INTENSITY |
-                LaserProjection.ChannelOption.INDEX)
-        assert len(cloud_out.fields) == 5, \
-                "PointCloud2 with channel INDEX: fields size != 5"
-
-        cloud_out = projector.projectLaser(scan, -1.0,
-                LaserProjection.ChannelOption.INTENSITY |
-                LaserProjection.ChannelOption.INDEX |
-                LaserProjection.ChannelOption.DISTANCE)
-        assert len(cloud_out.fields) == 6, \
-                "PointCloud2 with channel INDEX: fields size != 6"
-
         cloud_out = projector.projectLaser(scan, -1.0,
                 LaserProjection.ChannelOption.INTENSITY |
                 LaserProjection.ChannelOption.INDEX |
@@ -153,4 +127,3 @@ def test_project_laser():
 
 if __name__ == '__main__':
     pytest.main()
-