diff --git a/CMakeLists.txt b/CMakeLists.txt
index cc9e45c..7aa55eb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -220,4 +220,6 @@ else (build_errors)
   ${PROJECT_NAME_LOWER}")
 endif(build_errors)
 
+include(CTest)
+
 add_subdirectory(src)
diff --git a/cmake/run_test.cmake b/cmake/run_test.cmake
new file mode 100644
index 0000000..a39fccb
--- /dev/null
+++ b/cmake/run_test.cmake
@@ -0,0 +1,27 @@
+# This script is part of the unit test mechanism for ign-tools.
+execute_process(COMMAND ruby ${IGN_SCRIPT} 
+  ${TEST_NAME}
+  OUTPUT_VARIABLE TEST_OUTPUT
+  ERROR_VARIABLE TEST_ERROR)
+
+# Copy failure result everytime we run test so we don't accidentally use
+# previous results.
+execute_process(COMMAND
+  ${CMAKE_COMMAND} -E copy
+  "${TEST_NAME}_fail.xml"
+  "../test_results/${TEST_NAME}.xml"
+)
+
+if (${TEST_OUTPUT} MATCHES "Test executed" AND NOT 
+    ((${TEST_OUTPUT} MATCHES "Library error") OR 
+    (${TEST_ERROR} MATCHES "Library error")))
+  execute_process(COMMAND
+    ${CMAKE_COMMAND} -E copy
+    "${TEST_NAME}_pass.xml"
+    "../test_results/${TEST_NAME}.xml"
+  )
+else()
+  message(FATAL_ERROR "Failed test.
+  Output: ${TEST_OUTPUT}
+  Error: ${TEST_ERROR}")
+endif()
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index a337664..c35a21c 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -28,8 +28,76 @@ if(WIN32)
 endif()
 install (TARGETS backward DESTINATION ${LIB_INSTALL_DIR})
 
+#===============================================================================
+# Used for the installed version.
+if(APPLE)
+  # On macOS, the full path to the library since DYLD_LIBRARY_PATH may not work.
+  set(backward_library_name ${CMAKE_INSTALL_FULL_LIBDIR}/$<TARGET_FILE_NAME:backward>)
+else()
+  set(backward_library_name $<TARGET_FILE_NAME:backward>)
+endif()
+
 # Two steps to create `ign`, First using `configure_file`, to interpolate cmake variables. Then
 # use `file(GENERATE ...)` to use generator expressions
-configure_file(ign.in ${PROJECT_BINARY_DIR}/${executable_name}_before_gen)
-file(GENERATE OUTPUT ${PROJECT_BINARY_DIR}/$<CONFIG>/${executable_name} INPUT ${PROJECT_BINARY_DIR}/${executable_name}_before_gen )
-install (PROGRAMS ${PROJECT_BINARY_DIR}/$<CONFIG>/${executable_name} DESTINATION ${BIN_INSTALL_DIR})
+set(ign_script_configured ${PROJECT_BINARY_DIR}/${executable_name}_before_gen)
+set(ign_script_generated ${PROJECT_BINARY_DIR}/$<CONFIG>/${executable_name})
+
+configure_file(ign.in ${ign_script_configured})
+file(GENERATE OUTPUT ${ign_script_generated} INPUT ${ign_script_configured})
+install (PROGRAMS ${ign_script_generated} DESTINATION ${BIN_INSTALL_DIR})
+
+#===============================================================================
+# BEGIN TEST ign command
+# Generate the ruby script for internal testing.
+if(BUILD_TESTING)
+  set(backward_library_name $<TARGET_FILE:backward>)
+  set(ign_script_configured_test ${PROJECT_BINARY_DIR}/test/bin/${executable_name}_before_gen)
+  set(ign_script_generated_test ${PROJECT_BINARY_DIR}/$<CONFIG>/test/bin/${executable_name})
+
+  # Two steps to create `ign`, First using `configure_file`, to interpolate cmake variables. Then
+  # use `file(GENERATE ...)` to use generator expressions
+  configure_file(ign.in ${ign_script_configured_test})
+  file(GENERATE OUTPUT ${ign_script_generated_test} INPUT ${ign_script_configured_test})
+
+  set(TEST_NAME UNIT_ign_TEST)
+
+  set(ign_library_path  "${PROJECT_SOURCE_DIR}/src/cmd${TEST_NAME}.rb")
+
+  set(yaml_output_dir "${PROJECT_BINARY_DIR}/test/conf" )
+  set(yaml_output_configured_test "${yaml_output_dir}/${TEST_NAME}.yaml.configured")
+  set(yaml_output_generated_test "${yaml_output_dir}/$<CONFIG>/${TEST_NAME}.yaml")
+  configure_file(
+    "${TEST_NAME}.yaml.in"
+    "${yaml_output_configured_test}" @ONLY)
+
+  file(GENERATE
+    OUTPUT "${yaml_output_generated_test}"
+    INPUT "${yaml_output_configured_test}")
+
+  configure_file(
+    "${PROJECT_SOURCE_DIR}/tools/junit_pass.xml.in"
+    "${CMAKE_CURRENT_BINARY_DIR}/${TEST_NAME}_pass.xml"
+    @ONLY)
+
+  configure_file(
+    "${PROJECT_SOURCE_DIR}/tools/junit_fail.xml.in"
+    "${CMAKE_CURRENT_BINARY_DIR}/${TEST_NAME}_fail.xml"
+    @ONLY)
+
+  # This simply executes ign. The output will be tested in the check_* test
+  add_test(
+    NAME ${TEST_NAME}
+    COMMAND ${CMAKE_COMMAND}
+    -DTEST_NAME=${TEST_NAME}
+    -DIGN_SCRIPT=${ign_script_generated_test} 
+    -P ${PROJECT_SOURCE_DIR}/cmake/run_test.cmake
+  )
+
+  set_tests_properties(
+    ${TEST_NAME}
+    PROPERTIES
+    ENVIRONMENT "IGN_CONFIG_PATH=${yaml_output_dir}/$<CONFIG>"
+  )
+endif()
+# END TEST
+#==============================
diff --git a/src/UNIT_ign_TEST.yaml.in b/src/UNIT_ign_TEST.yaml.in
new file mode 100644
index 0000000..8faeab7
--- /dev/null
+++ b/src/UNIT_ign_TEST.yaml.in
@@ -0,0 +1,9 @@
+--- # test commands
+format: 1.0.0
+library_name: @PROJECT_NAME@
+library_version: ''
+library_path: @ign_library_path@
+commands:
+    - UNIT_ign_TEST   : Test command
+---
+
diff --git a/src/cmdUNIT_ign_TEST.rb b/src/cmdUNIT_ign_TEST.rb
new file mode 100755
index 0000000..09ceaba
--- /dev/null
+++ b/src/cmdUNIT_ign_TEST.rb
@@ -0,0 +1,30 @@
+#!/usr/bin/ruby
+
+# Copyright (C) 2021 Open Source Robotics Foundation
+#
+# 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.
+
+require 'optparse'
+
+# Constants.
+COMMANDS = { 'tools' => 'Test ign tools.\n\n' }.freeze
+
+# Test Cmd class
+class Cmd
+  #
+  # Execute the command
+  #
+  def execute(_args)
+    puts 'Test executed'
+  end
+end
diff --git a/src/ign.in b/src/ign.in
index a11d245..b9c9136 100755
--- a/src/ign.in
+++ b/src/ign.in
@@ -282,17 +282,10 @@ if ARGV.include?('--versions')
 end
 
 # Start Backward before loading plugins
-backward_library_name = if (/darwin/ =~ RUBY_PLATFORM).nil?
-                          '$<TARGET_FILE_NAME:backward>'
-                        else
-                          # On macOS, the full path to the library since
-                          # DYLD_LIBRARY_PATH may not work.
-                          '$<TARGET_FILE:backward>'
-                        end
 begin
-  SharedLibInterface::Importer.dlload backward_library_name
+  SharedLibInterface::Importer.dlload '@backward_library_name@'
 rescue SharedLibInterface::DLError
-  puts "Library error: #{backward_library_name} not found. Improved backtrace"\
+  warn 'Library error: @backward_library_name@ not found. Improved backtrace'\
        ' generation will be disabled'
 end
 
diff --git a/tools/junit_fail.xml.in b/tools/junit_fail.xml.in
new file mode 100644
index 0000000..18196ab
--- /dev/null
+++ b/tools/junit_fail.xml.in
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<testsuites tests="1" failures="1" disabled="0" errors="0" timestamp="@TEST_TIME@" time="0" name="AllTests">
+  <testsuite name="@TEST_NAME@" tests="1" failures="1" disabled="0" errors="0" time="0">
+    <testcase name="ign_script" status="run" time="0" classname="@TEST_NAME@">
+      <failure type="Standard" message="@TEST_NAME@ failed." />
+    </testcase>
+  </testsuite>
+</testsuites>
diff --git a/tools/junit_pass.xml.in b/tools/junit_pass.xml.in
new file mode 100644
index 0000000..ee86976
--- /dev/null
+++ b/tools/junit_pass.xml.in
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<testsuites tests="1" failures="0" disabled="0" errors="0" timestamp="@TEST_TIME@" time="0" name="AllTests">
+  <testsuite name="@TEST_NAME@" tests="1" failures="0" disabled="0" errors="0" time="0">
+    <testcase name="ign_script" status="run" time="0" classname="@TEST_NAME@" />
+  </testsuite>
+</testsuites>