diff --git a/Cargo.toml b/Cargo.toml
index 645e960..bb3c954 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,5 +1,5 @@
 [workspace]
 
-members = ["rpcl2", "rpcl2-derive"]
+members = [ "derive-test","rpcl2", "rpcl2-derive"]
 
 resolver = "2"
diff --git a/derive-test/Cargo.toml b/derive-test/Cargo.toml
new file mode 100644
index 0000000..75692c8
--- /dev/null
+++ b/derive-test/Cargo.toml
@@ -0,0 +1,8 @@
+[package]
+name = "derive-test"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+ros_pointcloud2 = { path = "../rpcl2", features = ["std", "derive"] }
+rpcl2-derive = { path = "../rpcl2-derive" }
diff --git a/derive-test/tests/derive_test.rs b/derive-test/tests/derive_test.rs
new file mode 100644
index 0000000..e0720a6
--- /dev/null
+++ b/derive-test/tests/derive_test.rs
@@ -0,0 +1,20 @@
+use ros_pointcloud2::PointConvertible;
+use rpcl2_derive::*;
+
+#[derive(Debug, PartialEq, Clone, Default, PointConvertible)]
+#[repr(C, align(4))]
+struct MyPointXYZI {
+    x: f32,
+    #[rpcl2(rename("test"))]
+    y: u16,
+    z: f32,
+    #[rpcl2(rename("i"))]
+    intensity: i32,
+    label: u8,
+}
+
+#[test]
+fn layout() {
+    let layout_str = format!("{:?}", MyPointXYZI::layout());
+    assert_eq!("LayoutDescription([Field { name: \"x\", ty: \"f32\", size: 4 }, Field { name: \"test\", ty: \"u16\", size: 2 }, Padding { size: 2 }, Field { name: \"z\", ty: \"f32\", size: 4 }, Field { name: \"i\", ty: \"i32\", size: 4 }, Field { name: \"label\", ty: \"u8\", size: 1 }, Padding { size: 3 }])", layout_str);
+}