diff --git a/hironx_head_action/CMakeLists.txt b/hironx_head_action/CMakeLists.txt
index 592e0cdf..4dc8bcd1 100644
--- a/hironx_head_action/CMakeLists.txt
+++ b/hironx_head_action/CMakeLists.txt
@@ -35,7 +35,7 @@ install(DIRECTORY test launch
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
    USE_SOURCE_PERMISSIONS)
 
-if (CATKIN_ENABLE_TESTING)
-  find_package(catkin REQUIRED COMPONENTS rostest)
-  add_rostest(test/test-head-action.test)
-endif()
+# System tests are done in the downstream, hironx_ros_bridge pkg.
+# Because system tests require some launch files hironx_ros_bridge provides, but
+# then hironx_ros_bridge depends on this package so that circular dependency 
+# occurs. That's why tests are moved there to avoid circular.
diff --git a/hironx_head_action/package.xml b/hironx_head_action/package.xml
index af608ba1..25ca0567 100644
--- a/hironx_head_action/package.xml
+++ b/hironx_head_action/package.xml
@@ -40,6 +40,5 @@
   <run_depend>tf</run_depend>
   <run_depend>tf_conversions</run_depend>
   <run_depend>trajectory_msgs</run_depend>
-  <test_depend>hironx_ros_bridge</test_depend>
   <test_depend>rostest</test_depend>
 </package>
diff --git a/hironx_ros_bridge/CMakeLists.txt b/hironx_ros_bridge/CMakeLists.txt
index 8e3774a9..e0d95d41 100644
--- a/hironx_ros_bridge/CMakeLists.txt
+++ b/hironx_ros_bridge/CMakeLists.txt
@@ -106,7 +106,9 @@ add_rostest(test/test-hironx-ros-bridge-pose.test)
 add_rostest(test/test-hironx-ros-bridge-controller.test)
 
 if (CATKIN_ENABLE_TESTING)
+  find_package(catkin REQUIRED COMPONENTS rostest)
   catkin_add_nosetests(test/test_no_ros.py)
+  add_rostest(test/test_head_action.test)
 endif()
 
 roslint_python(scripts/hironx.py src/hironx_ros_bridge/hironx_client.py src/hironx_ros_bridge/ros_client.py src/hironx_ros_bridge/constant.py)
diff --git a/hironx_head_action/test/test_head_action.py b/hironx_ros_bridge/test/test_head_action.py
similarity index 100%
rename from hironx_head_action/test/test_head_action.py
rename to hironx_ros_bridge/test/test_head_action.py
diff --git a/hironx_head_action/test/test-head-action.test b/hironx_ros_bridge/test/test_head_action.test
similarity index 100%
rename from hironx_head_action/test/test-head-action.test
rename to hironx_ros_bridge/test/test_head_action.test