diff --git a/euscollada/CMakeLists.txt b/euscollada/CMakeLists.txt
index 011cac42c..796bc876e 100644
--- a/euscollada/CMakeLists.txt
+++ b/euscollada/CMakeLists.txt
@@ -91,3 +91,9 @@ if (EXISTS ${pr2_xacro})
     message(WARNING "urdf_to_collada requries collada-dom >= 2.4.4, installed version is ${COLLADA_VERSION}")
   endif()
 endif()
+
+
+if(CATKIN_ENABLE_TESTING)
+  find_package(jsk_tools REQUIRED)
+  jsk_tools_add_shell_test(COMMAND "rosrun ${PROJECT_NAME} test_pr2.sh" DEPENDENCIES generate_pr2_lisp)
+endif()
diff --git a/euscollada/test/test_pr2.sh b/euscollada/test/test_pr2.sh
new file mode 100755
index 000000000..260e7ec0e
--- /dev/null
+++ b/euscollada/test/test_pr2.sh
@@ -0,0 +1,12 @@
+#!/bin/sh
+
+rosrun roseus roseus lib/llib/unittest.l "(init-unit-test)" "\
+(progn
+  (load \"package://euscollada/pr2.l\")
+  (pr2)
+  (send *pr2* :reset-pose)
+  (send *pr2* :reset-pose :larm)
+  (send *pr2* :reset-pose :rarm)
+  (exit)
+  )
+"