diff --git a/src/example_behaviors/call_my_service_solution/CMakeLists.txt b/src/example_behaviors/call_my_service_solution/CMakeLists.txt
index 1931929d..770a89c8 100644
--- a/src/example_behaviors/call_my_service_solution/CMakeLists.txt
+++ b/src/example_behaviors/call_my_service_solution/CMakeLists.txt
@@ -35,11 +35,7 @@ install(
 install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-  add_subdirectory(test)
-  target_compile_options(call_my_service PRIVATE -fprofile-arcs -ftest-coverage)
-  target_link_options(call_my_service PRIVATE -fprofile-arcs -ftest-coverage)
+  moveit_pro_behavior_test(call_my_service)
 endif()
 
 # Export the behavior plugins defined in this package so they are available to
diff --git a/src/example_behaviors/translate_pose_solution/CMakeLists.txt b/src/example_behaviors/translate_pose_solution/CMakeLists.txt
index cf2817f7..a6a817ed 100644
--- a/src/example_behaviors/translate_pose_solution/CMakeLists.txt
+++ b/src/example_behaviors/translate_pose_solution/CMakeLists.txt
@@ -38,11 +38,7 @@ install(
 install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-  add_subdirectory(test)
-  target_compile_options(translate_pose PRIVATE -fprofile-arcs -ftest-coverage)
-  target_link_options(translate_pose PRIVATE -fprofile-arcs -ftest-coverage)
+  moveit_pro_behavior_test(translate_pose)
 endif()
 
 # Export the behavior plugins defined in this package so they are available to
diff --git a/src/external_dependencies/picknik_registration b/src/external_dependencies/picknik_registration
index 7c654b0a..5ce93428 160000
--- a/src/external_dependencies/picknik_registration
+++ b/src/external_dependencies/picknik_registration
@@ -1 +1 @@
-Subproject commit 7c654b0aa4c69ae39c4b3fa1e83d7a08aa8cad60
+Subproject commit 5ce934289fddcdf84a13fc6b569d10c50a7f5da1
diff --git a/src/picknik_ur_site_config/behaviors/CMakeLists.txt b/src/picknik_ur_site_config/behaviors/CMakeLists.txt
index cbeeeb27..95f5a4a4 100644
--- a/src/picknik_ur_site_config/behaviors/CMakeLists.txt
+++ b/src/picknik_ur_site_config/behaviors/CMakeLists.txt
@@ -20,10 +20,7 @@ ament_target_dependencies(trigger_pstop_reset_service
         ${THIS_PACKAGE_INCLUDE_DEPENDS})
 
 if(BUILD_TESTING)
-  add_subdirectory(test)
-  # Add coverage flags behavior
-  target_compile_options(trigger_pstop_reset_service PRIVATE -fprofile-arcs -ftest-coverage)
-  target_link_options(trigger_pstop_reset_service PRIVATE -fprofile-arcs -ftest-coverage)
+  moveit_pro_behavior_test(trigger_pstop_reset_service)
 endif()
 
 # Install Libraries