diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index 41b57dfc..88974a68 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -26,6 +26,19 @@ jobs:
           sros2_cmake
         extra-cmake-args: '-DSECURITY=ON --no-warn-unused-cli'
         target-ros2-distro: rolling
+        colcon-defaults: |
+          {
+            "build": {
+              "mixin": ["coverage-pytest"]
+            },
+            "test": {
+              "mixin": ["coverage-pytest"]
+            }
+          }
+        # If possible, pin the repository in the workflow to a specific commit to avoid
+        # changes in colcon-mixin-repository from breaking your tests.
+        colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+
     - name: Upload coverage to Codecov
       uses: codecov/codecov-action@v1
       if: github.event_name == 'pull_request' || (github.event_name == 'push' && github.ref == 'refs/heads/rolling')