diff --git a/.github/workflows/rust_and_ros2.yml b/.github/workflows/rust_and_ros2.yml
index 48b4dae..c661e73 100644
--- a/.github/workflows/rust_and_ros2.yml
+++ b/.github/workflows/rust_and_ros2.yml
@@ -6,23 +6,30 @@ env:
   CARGO_TERM_COLOR: always
 
 jobs:
-  testing_humble:
+  docs_humble:
     runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v2
-    - run: docker build . --file ./tests/Dockerfile_humble --tag r2r_test
-    - run: docker run r2r_test
+    - run: docker build . --file ./tests/Dockerfile_humble --tag r2r_test_humble
+    - run: docker run r2r_test_humble cargo build --features doc-only
 
-  testing_galactic:
+  tests_humble:
     runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v2
-    - run: docker build . --file ./tests/Dockerfile_galactic --tag r2r_test
-    - run: docker run r2r_test
+    - run: docker build . --file ./tests/Dockerfile_humble --tag r2r_test_humble
+    - run: docker run r2r_test_humble cargo test
 
-  testing_foxy:
+  tests_galactic:
     runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v2
-    - run: docker build . --file ./tests/Dockerfile_foxy --tag r2r_test
-    - run: docker run r2r_test
+    - run: docker build . --file ./tests/Dockerfile_galactic --tag r2r_test_galactic
+    - run: docker run r2r_test_galactic cargo test
+
+  tests_foxy:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v2
+    - run: docker build . --file ./tests/Dockerfile_foxy --tag r2r_test_foxy
+    - run: docker run r2r_test_foxy cargo test
diff --git a/tests/test.bash b/tests/test.bash
index e0608f5..3c037f9 100644
--- a/tests/test.bash
+++ b/tests/test.bash
@@ -1,7 +1,9 @@
 #!/bin/bash
 
+. "$HOME/.cargo/env"
+
 # run rustup to test with latest rust version
-/root/.cargo/bin/rustup update
+rustup update
 
 if [ -e "/opt/ros/humble/setup.bash" ]; then
     source "/opt/ros/humble/setup.bash"
@@ -14,4 +16,5 @@ if [ -e "/opt/ros/foxy/setup.bash" ]; then
 fi
 
 cd /r2r/
-/root/.cargo/bin/cargo test
+
+"$@"