diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CMakeLists.txt b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CMakeLists.txt
index b4a688d711221..b28e486c9be05 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CMakeLists.txt
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CMakeLists.txt
@@ -13,4 +13,14 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
   src/util.cpp
 )
 
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+  file(GLOB_RECURSE TEST_SOURCES test/*.cpp)
+  ament_add_ros_isolated_gtest(test_${PROJECT_NAME}
+    ${TEST_SOURCES}
+  )
+  target_link_libraries(test_${PROJECT_NAME} ${PROJECT_NAME})
+endif()
+
 ament_auto_package(INSTALL_TO_SHARE config)
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml
index 9739370387df7..8c34678f439ed 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml
@@ -17,6 +17,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_behavior_velocity_planner</depend>
   <depend>autoware_behavior_velocity_planner_common</depend>
   <depend>autoware_behavior_velocity_rtc_interface</depend>
   <depend>autoware_lanelet2_extension</depend>
@@ -32,6 +33,7 @@
   <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/test/test_node_interface.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/test/test_node_interface.cpp
new file mode 100644
index 0000000000000..e0ceca4e12951
--- /dev/null
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/test/test_node_interface.cpp
@@ -0,0 +1,64 @@
+// Copyright 2024 TIER IV, Inc.
+//
+// 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.
+
+#include <autoware/behavior_velocity_planner/test_utils.hpp>
+
+#include <gtest/gtest.h>
+
+#include <cmath>
+#include <memory>
+#include <string>
+#include <vector>
+
+namespace autoware::behavior_velocity_planner
+{
+TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionPathWithLaneID)
+{
+  rclcpp::init(0, nullptr);
+  auto test_manager = autoware::behavior_velocity_planner::generateTestManager();
+  auto test_target_node = autoware::behavior_velocity_planner::generateNode({});
+
+  autoware::behavior_velocity_planner::publishMandatoryTopics(test_manager, test_target_node);
+
+  // test with nominal path_with_lane_id
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalPathWithLaneId(test_target_node));
+  EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
+
+  // test with empty path_with_lane_id
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithAbnormalPathWithLaneId(test_target_node));
+  rclcpp::shutdown();
+}
+
+TEST(PlanningModuleInterfaceTest, NodeTestWithOffTrackEgoPose)
+{
+  rclcpp::init(0, nullptr);
+
+  const auto plugin_info_vec = {autoware::behavior_velocity_planner::PluginInfo{
+    "blind_spot", "autoware::behavior_velocity_planner::BlindSpotModulePlugin"}};
+
+  auto test_manager = autoware::behavior_velocity_planner::generateTestManager();
+  auto test_target_node = autoware::behavior_velocity_planner::generateNode(plugin_info_vec);
+  autoware::behavior_velocity_planner::publishMandatoryTopics(test_manager, test_target_node);
+
+  // test for normal trajectory
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalPathWithLaneId(test_target_node));
+
+  // make sure behavior_path_planner is running
+  EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
+
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testOffTrackFromPathWithLaneId(test_target_node));
+
+  rclcpp::shutdown();
+}
+}  // namespace autoware::behavior_velocity_planner
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CMakeLists.txt b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CMakeLists.txt
index 10b694ce22cbd..3a429008c1b8e 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CMakeLists.txt
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CMakeLists.txt
@@ -15,6 +15,7 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
   ament_add_ros_isolated_gtest(test_${PROJECT_NAME}
     test/test_crosswalk.cpp
+    test/test_node_interface.cpp
   )
   target_link_libraries(test_${PROJECT_NAME} ${PROJECT_NAME})
 endif()
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml
index ff01e85aa5456..1f0e9e68a65c6 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml
@@ -21,6 +21,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
+  <depend>autoware_behavior_velocity_planner</depend>
   <depend>autoware_behavior_velocity_planner_common</depend>
   <depend>autoware_behavior_velocity_rtc_interface</depend>
   <depend>autoware_grid_map_utils</depend>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/test/test_node_interface.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/test/test_node_interface.cpp
new file mode 100644
index 0000000000000..7a875327d4dde
--- /dev/null
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/test/test_node_interface.cpp
@@ -0,0 +1,64 @@
+// Copyright 2024 TIER IV, Inc.
+//
+// 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.
+
+#include <autoware/behavior_velocity_planner/test_utils.hpp>
+
+#include <gtest/gtest.h>
+
+#include <cmath>
+#include <memory>
+#include <string>
+#include <vector>
+
+namespace autoware::behavior_velocity_planner
+{
+TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionPathWithLaneID)
+{
+  rclcpp::init(0, nullptr);
+  auto test_manager = autoware::behavior_velocity_planner::generateTestManager();
+  auto test_target_node = autoware::behavior_velocity_planner::generateNode({});
+
+  autoware::behavior_velocity_planner::publishMandatoryTopics(test_manager, test_target_node);
+
+  // test with nominal path_with_lane_id
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalPathWithLaneId(test_target_node));
+  EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
+
+  // test with empty path_with_lane_id
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithAbnormalPathWithLaneId(test_target_node));
+  rclcpp::shutdown();
+}
+
+TEST(PlanningModuleInterfaceTest, NodeTestWithOffTrackEgoPose)
+{
+  rclcpp::init(0, nullptr);
+
+  const auto plugin_info_vec = {autoware::behavior_velocity_planner::PluginInfo{
+    "crosswalk", "autoware::behavior_velocity_planner::CrosswalkModulePlugin"}};
+
+  auto test_manager = autoware::behavior_velocity_planner::generateTestManager();
+  auto test_target_node = autoware::behavior_velocity_planner::generateNode(plugin_info_vec);
+  autoware::behavior_velocity_planner::publishMandatoryTopics(test_manager, test_target_node);
+
+  // test for normal trajectory
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalPathWithLaneId(test_target_node));
+
+  // make sure behavior_path_planner is running
+  EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
+
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testOffTrackFromPathWithLaneId(test_target_node));
+
+  rclcpp::shutdown();
+}
+}  // namespace autoware::behavior_velocity_planner
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CMakeLists.txt b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CMakeLists.txt
index 3aff4a524ffdd..53eafaffbba6c 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CMakeLists.txt
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CMakeLists.txt
@@ -14,6 +14,7 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
   ament_add_ros_isolated_gtest(test_${PROJECT_NAME}
     test/test_utils.cpp
+    test/test_node_interface.cpp
   )
   target_link_libraries(test_${PROJECT_NAME} ${PROJECT_NAME})
 endif()
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml
index ff91cf40a32a6..4ae1d20991078 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml
@@ -17,6 +17,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
+  <depend>autoware_behavior_velocity_planner</depend>
   <depend>autoware_behavior_velocity_planner_common</depend>
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_motion_utils</depend>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/test/test_node_interface.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/test/test_node_interface.cpp
new file mode 100644
index 0000000000000..f84d22debea8e
--- /dev/null
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/test/test_node_interface.cpp
@@ -0,0 +1,64 @@
+// Copyright 2024 TIER IV, Inc.
+//
+// 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.
+
+#include <autoware/behavior_velocity_planner/test_utils.hpp>
+
+#include <gtest/gtest.h>
+
+#include <cmath>
+#include <memory>
+#include <string>
+#include <vector>
+
+namespace autoware::behavior_velocity_planner
+{
+TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionPathWithLaneID)
+{
+  rclcpp::init(0, nullptr);
+  auto test_manager = autoware::behavior_velocity_planner::generateTestManager();
+  auto test_target_node = autoware::behavior_velocity_planner::generateNode({});
+
+  autoware::behavior_velocity_planner::publishMandatoryTopics(test_manager, test_target_node);
+
+  // test with nominal path_with_lane_id
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalPathWithLaneId(test_target_node));
+  EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
+
+  // test with empty path_with_lane_id
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithAbnormalPathWithLaneId(test_target_node));
+  rclcpp::shutdown();
+}
+
+TEST(PlanningModuleInterfaceTest, NodeTestWithOffTrackEgoPose)
+{
+  rclcpp::init(0, nullptr);
+
+  const auto plugin_info_vec = {autoware::behavior_velocity_planner::PluginInfo{
+    "detection_area", "autoware::behavior_velocity_planner::DetectionAreaModulePlugin"}};
+
+  auto test_manager = autoware::behavior_velocity_planner::generateTestManager();
+  auto test_target_node = autoware::behavior_velocity_planner::generateNode(plugin_info_vec);
+  autoware::behavior_velocity_planner::publishMandatoryTopics(test_manager, test_target_node);
+
+  // test for normal trajectory
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalPathWithLaneId(test_target_node));
+
+  // make sure behavior_path_planner is running
+  EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
+
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testOffTrackFromPathWithLaneId(test_target_node));
+
+  rclcpp::shutdown();
+}
+}  // namespace autoware::behavior_velocity_planner
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml
index 208e7ed49de71..4f7c3aeea7618 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml
@@ -19,6 +19,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_behavior_velocity_planner</depend>
   <depend>autoware_behavior_velocity_planner_common</depend>
   <depend>autoware_behavior_velocity_rtc_interface</depend>
   <depend>autoware_internal_debug_msgs</depend>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/test/test_node_interface.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/test/test_node_interface.cpp
new file mode 100644
index 0000000000000..b515107e0ae8e
--- /dev/null
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/test/test_node_interface.cpp
@@ -0,0 +1,64 @@
+// Copyright 2024 TIER IV, Inc.
+//
+// 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.
+
+#include <autoware/behavior_velocity_planner/test_utils.hpp>
+
+#include <gtest/gtest.h>
+
+#include <cmath>
+#include <memory>
+#include <string>
+#include <vector>
+
+namespace autoware::behavior_velocity_planner
+{
+TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionPathWithLaneID)
+{
+  rclcpp::init(0, nullptr);
+  auto test_manager = autoware::behavior_velocity_planner::generateTestManager();
+  auto test_target_node = autoware::behavior_velocity_planner::generateNode({});
+
+  autoware::behavior_velocity_planner::publishMandatoryTopics(test_manager, test_target_node);
+
+  // test with nominal path_with_lane_id
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalPathWithLaneId(test_target_node));
+  EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
+
+  // test with empty path_with_lane_id
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithAbnormalPathWithLaneId(test_target_node));
+  rclcpp::shutdown();
+}
+
+TEST(PlanningModuleInterfaceTest, NodeTestWithOffTrackEgoPose)
+{
+  rclcpp::init(0, nullptr);
+
+  const auto plugin_info_vec = {autoware::behavior_velocity_planner::PluginInfo{
+    "intersection", "autoware::behavior_velocity_planner::IntersectionModulePlugin"}};
+
+  auto test_manager = autoware::behavior_velocity_planner::generateTestManager();
+  auto test_target_node = autoware::behavior_velocity_planner::generateNode(plugin_info_vec);
+  autoware::behavior_velocity_planner::publishMandatoryTopics(test_manager, test_target_node);
+
+  // test for normal trajectory
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalPathWithLaneId(test_target_node));
+
+  // make sure behavior_path_planner is running
+  EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
+
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testOffTrackFromPathWithLaneId(test_target_node));
+
+  rclcpp::shutdown();
+}
+}  // namespace autoware::behavior_velocity_planner
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CMakeLists.txt b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CMakeLists.txt
index b710924410549..e6b362271afb3 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CMakeLists.txt
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CMakeLists.txt
@@ -14,6 +14,7 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
   ament_add_ros_isolated_gtest(test_${PROJECT_NAME}
     test/test_utils.cpp
+    test/test_node_interface.cpp
   )
   target_link_libraries(test_${PROJECT_NAME} ${PROJECT_NAME})
 endif()
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml
index 4415eadef62c7..28677bfb80b15 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml
@@ -17,6 +17,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_behavior_velocity_planner</depend>
   <depend>autoware_behavior_velocity_planner_common</depend>
   <depend>autoware_behavior_velocity_rtc_interface</depend>
   <depend>autoware_interpolation</depend>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/test/test_node_interface.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/test/test_node_interface.cpp
new file mode 100644
index 0000000000000..875e757cbfcec
--- /dev/null
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/test/test_node_interface.cpp
@@ -0,0 +1,64 @@
+// Copyright 2024 TIER IV, Inc.
+//
+// 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.
+
+#include <autoware/behavior_velocity_planner/test_utils.hpp>
+
+#include <gtest/gtest.h>
+
+#include <cmath>
+#include <memory>
+#include <string>
+#include <vector>
+
+namespace autoware::behavior_velocity_planner
+{
+TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionPathWithLaneID)
+{
+  rclcpp::init(0, nullptr);
+  auto test_manager = autoware::behavior_velocity_planner::generateTestManager();
+  auto test_target_node = autoware::behavior_velocity_planner::generateNode({});
+
+  autoware::behavior_velocity_planner::publishMandatoryTopics(test_manager, test_target_node);
+
+  // test with nominal path_with_lane_id
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalPathWithLaneId(test_target_node));
+  EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
+
+  // test with empty path_with_lane_id
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithAbnormalPathWithLaneId(test_target_node));
+  rclcpp::shutdown();
+}
+
+TEST(PlanningModuleInterfaceTest, NodeTestWithOffTrackEgoPose)
+{
+  rclcpp::init(0, nullptr);
+
+  const auto plugin_info_vec = {autoware::behavior_velocity_planner::PluginInfo{
+    "no_stopping_area", "autoware::behavior_velocity_planner::NoStoppingAreaModulePlugin"}};
+
+  auto test_manager = autoware::behavior_velocity_planner::generateTestManager();
+  auto test_target_node = autoware::behavior_velocity_planner::generateNode(plugin_info_vec);
+  autoware::behavior_velocity_planner::publishMandatoryTopics(test_manager, test_target_node);
+
+  // test for normal trajectory
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalPathWithLaneId(test_target_node));
+
+  // make sure behavior_path_planner is running
+  EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
+
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testOffTrackFromPathWithLaneId(test_target_node));
+
+  rclcpp::shutdown();
+}
+}  // namespace autoware::behavior_velocity_planner
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CMakeLists.txt b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CMakeLists.txt
index 31900a23d00e5..a520b02a43c05 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CMakeLists.txt
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CMakeLists.txt
@@ -2,14 +2,6 @@ cmake_minimum_required(VERSION 3.14)
 project(autoware_behavior_velocity_planner)
 
 find_package(autoware_cmake REQUIRED)
-find_package(rosidl_default_generators REQUIRED)
-
-rosidl_generate_interfaces(
-  ${PROJECT_NAME}
-  "srv/LoadPlugin.srv"
-  "srv/UnloadPlugin.srv"
-  DEPENDENCIES
-)
 
 autoware_package()
 
@@ -24,15 +16,6 @@ rclcpp_components_register_node(${PROJECT_NAME}_lib
   EXECUTABLE ${PROJECT_NAME}_node
 )
 
-if(${rosidl_cmake_VERSION} VERSION_LESS 2.5.0)
-    rosidl_target_interfaces(${PROJECT_NAME}_lib
-    ${PROJECT_NAME} "rosidl_typesupport_cpp")
-else()
-    rosidl_get_typesupport_target(
-            cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
-    target_link_libraries(${PROJECT_NAME}_lib "${cpp_typesupport_target}")
-endif()
-
 if(BUILD_TESTING)
   ament_add_ros_isolated_gtest(test_${PROJECT_NAME}
     test/test_node_interface.cpp
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/include/autoware/behavior_velocity_planner/node.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/include/autoware/behavior_velocity_planner/node.hpp
index 4c1f10c355226..8a52ae70231d0 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/include/autoware/behavior_velocity_planner/node.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/include/autoware/behavior_velocity_planner/node.hpp
@@ -21,10 +21,9 @@
 
 #include <autoware/behavior_velocity_planner_common/planner_data.hpp>
 #include <autoware/universe_utils/ros/published_time_publisher.hpp>
-#include <autoware_behavior_velocity_planner/srv/load_plugin.hpp>
-#include <autoware_behavior_velocity_planner/srv/unload_plugin.hpp>
 #include <rclcpp/rclcpp.hpp>
 
+#include <autoware_internal_debug_msgs/srv/string.hpp>
 #include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
 #include <autoware_planning_msgs/msg/path.hpp>
@@ -45,8 +44,6 @@
 
 namespace autoware::behavior_velocity_planner
 {
-using autoware_behavior_velocity_planner::srv::LoadPlugin;
-using autoware_behavior_velocity_planner::srv::UnloadPlugin;
 using autoware_map_msgs::msg::LaneletMapBin;
 using tier4_planning_msgs::msg::VelocityLimit;
 
@@ -125,13 +122,14 @@ class BehaviorVelocityPlannerNode : public rclcpp::Node
   BehaviorVelocityPlannerManager planner_manager_;
   bool is_driving_forward_{true};
 
-  rclcpp::Service<LoadPlugin>::SharedPtr srv_load_plugin_;
-  rclcpp::Service<UnloadPlugin>::SharedPtr srv_unload_plugin_;
+  rclcpp::Service<autoware_internal_debug_msgs::srv::String>::SharedPtr srv_load_plugin_;
+  rclcpp::Service<autoware_internal_debug_msgs::srv::String>::SharedPtr srv_unload_plugin_;
   void onUnloadPlugin(
-    const UnloadPlugin::Request::SharedPtr request,
-    const UnloadPlugin::Response::SharedPtr response);
+    const autoware_internal_debug_msgs::srv::String::Request::SharedPtr request,
+    const autoware_internal_debug_msgs::srv::String::Response::SharedPtr response);
   void onLoadPlugin(
-    const LoadPlugin::Request::SharedPtr request, const LoadPlugin::Response::SharedPtr response);
+    const autoware_internal_debug_msgs::srv::String::Request::SharedPtr request,
+    const autoware_internal_debug_msgs::srv::String::Response::SharedPtr response);
 
   // mutex for planner_data_
   std::mutex mutex_;
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml
index 04b4cf0328fd1..eca49a09c8a56 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml
@@ -32,9 +32,8 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
-  <build_depend>rosidl_default_generators</build_depend>
-
   <depend>autoware_behavior_velocity_planner_common</depend>
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_map_msgs</depend>
   <depend>autoware_motion_utils</depend>
@@ -60,15 +59,11 @@
   <depend>tier4_v2x_msgs</depend>
   <depend>visualization_msgs</depend>
 
-  <exec_depend>rosidl_default_runtime</exec_depend>
-
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
   <!--<test_depend>autoware_behavior_velocity_template_module</test_depend>-->
 
-  <member_of_group>rosidl_interface_packages</member_of_group>
-
   <export>
     <build_type>ament_cmake</build_type>
   </export>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp
index 5f78e4c670b49..1e3e691076b8a 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp
@@ -70,9 +70,9 @@ BehaviorVelocityPlannerNode::BehaviorVelocityPlannerNode(const rclcpp::NodeOptio
     this->create_subscription<tier4_planning_msgs::msg::PathWithLaneId>(
       "~/input/path_with_lane_id", 1, std::bind(&BehaviorVelocityPlannerNode::onTrigger, this, _1));
 
-  srv_load_plugin_ = create_service<LoadPlugin>(
+  srv_load_plugin_ = create_service<autoware_internal_debug_msgs::srv::String>(
     "~/service/load_plugin", std::bind(&BehaviorVelocityPlannerNode::onLoadPlugin, this, _1, _2));
-  srv_unload_plugin_ = create_service<UnloadPlugin>(
+  srv_unload_plugin_ = create_service<autoware_internal_debug_msgs::srv::String>(
     "~/service/unload_plugin",
     std::bind(&BehaviorVelocityPlannerNode::onUnloadPlugin, this, _1, _2));
 
@@ -112,19 +112,19 @@ BehaviorVelocityPlannerNode::BehaviorVelocityPlannerNode(const rclcpp::NodeOptio
 }
 
 void BehaviorVelocityPlannerNode::onLoadPlugin(
-  const LoadPlugin::Request::SharedPtr request,
-  [[maybe_unused]] const LoadPlugin::Response::SharedPtr response)
+  const autoware_internal_debug_msgs::srv::String::Request::SharedPtr request,
+  [[maybe_unused]] const autoware_internal_debug_msgs::srv::String::Response::SharedPtr response)
 {
   std::unique_lock<std::mutex> lk(mutex_);
-  planner_manager_.launchScenePlugin(*this, request->plugin_name);
+  planner_manager_.launchScenePlugin(*this, request->data);
 }
 
 void BehaviorVelocityPlannerNode::onUnloadPlugin(
-  const UnloadPlugin::Request::SharedPtr request,
-  [[maybe_unused]] const UnloadPlugin::Response::SharedPtr response)
+  const autoware_internal_debug_msgs::srv::String::Request::SharedPtr request,
+  [[maybe_unused]] const autoware_internal_debug_msgs::srv::String::Response::SharedPtr response)
 {
   std::unique_lock<std::mutex> lk(mutex_);
-  planner_manager_.removeScenePlugin(*this, request->plugin_name);
+  planner_manager_.removeScenePlugin(*this, request->data);
 }
 
 void BehaviorVelocityPlannerNode::onParam()
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/srv/LoadPlugin.srv b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/srv/LoadPlugin.srv
deleted file mode 100644
index 7b9f08ab0ded8..0000000000000
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/srv/LoadPlugin.srv
+++ /dev/null
@@ -1,3 +0,0 @@
-string plugin_name
----
-bool success
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/srv/UnloadPlugin.srv b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/srv/UnloadPlugin.srv
deleted file mode 100644
index 7b9f08ab0ded8..0000000000000
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/srv/UnloadPlugin.srv
+++ /dev/null
@@ -1,3 +0,0 @@
-string plugin_name
----
-bool success
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CMakeLists.txt b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CMakeLists.txt
index da2f4ce33ff60..a2f35ada11b5e 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CMakeLists.txt
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CMakeLists.txt
@@ -17,10 +17,11 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
 
 if(BUILD_TESTING)
   ament_add_ros_isolated_gtest(test_${PROJECT_NAME}
-    tests/test_dynamic_obstacle.cpp
-    tests/test_path_utils.cpp
-    tests/test_utils.cpp
-    tests/test_state_machine.cpp
+    test/test_dynamic_obstacle.cpp
+    test/test_path_utils.cpp
+    test/test_utils.cpp
+    test/test_state_machine.cpp
+    test/test_node_interface.cpp
   )
   target_link_libraries(test_${PROJECT_NAME}
     autoware_behavior_velocity_run_out_module
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml
index b3ced8b2e9b9f..18db8281356f8 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml
@@ -20,6 +20,7 @@
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
   <depend>autoware_behavior_velocity_crosswalk_module</depend>
+  <depend>autoware_behavior_velocity_planner</depend>
   <depend>autoware_behavior_velocity_planner_common</depend>
   <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_motion_utils</depend>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/tests/test_dynamic_obstacle.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/test/test_dynamic_obstacle.cpp
similarity index 100%
rename from planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/tests/test_dynamic_obstacle.cpp
rename to planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/test/test_dynamic_obstacle.cpp
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/test/test_node_interface.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/test/test_node_interface.cpp
new file mode 100644
index 0000000000000..75bf59751ed44
--- /dev/null
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/test/test_node_interface.cpp
@@ -0,0 +1,64 @@
+// Copyright 2024 TIER IV, Inc.
+//
+// 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.
+
+#include <autoware/behavior_velocity_planner/test_utils.hpp>
+
+#include <gtest/gtest.h>
+
+#include <cmath>
+#include <memory>
+#include <string>
+#include <vector>
+
+namespace autoware::behavior_velocity_planner
+{
+TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionPathWithLaneID)
+{
+  rclcpp::init(0, nullptr);
+  auto test_manager = autoware::behavior_velocity_planner::generateTestManager();
+  auto test_target_node = autoware::behavior_velocity_planner::generateNode({});
+
+  autoware::behavior_velocity_planner::publishMandatoryTopics(test_manager, test_target_node);
+
+  // test with nominal path_with_lane_id
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalPathWithLaneId(test_target_node));
+  EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
+
+  // test with empty path_with_lane_id
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithAbnormalPathWithLaneId(test_target_node));
+  rclcpp::shutdown();
+}
+
+TEST(PlanningModuleInterfaceTest, NodeTestWithOffTrackEgoPose)
+{
+  rclcpp::init(0, nullptr);
+
+  const auto plugin_info_vec = {autoware::behavior_velocity_planner::PluginInfo{
+    "run_out", "autoware::behavior_velocity_planner::RunOutModulePlugin"}};
+
+  auto test_manager = autoware::behavior_velocity_planner::generateTestManager();
+  auto test_target_node = autoware::behavior_velocity_planner::generateNode(plugin_info_vec);
+  autoware::behavior_velocity_planner::publishMandatoryTopics(test_manager, test_target_node);
+
+  // test for normal trajectory
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalPathWithLaneId(test_target_node));
+
+  // make sure behavior_path_planner is running
+  EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
+
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testOffTrackFromPathWithLaneId(test_target_node));
+
+  rclcpp::shutdown();
+}
+}  // namespace autoware::behavior_velocity_planner
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/tests/test_path_utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/test/test_path_utils.cpp
similarity index 100%
rename from planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/tests/test_path_utils.cpp
rename to planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/test/test_path_utils.cpp
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/tests/test_state_machine.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/test/test_state_machine.cpp
similarity index 100%
rename from planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/tests/test_state_machine.cpp
rename to planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/test/test_state_machine.cpp
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/tests/test_utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/test/test_utils.cpp
similarity index 100%
rename from planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/tests/test_utils.cpp
rename to planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/test/test_utils.cpp
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CMakeLists.txt b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CMakeLists.txt
index f4528f0d13cf4..a187b4cda9459 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CMakeLists.txt
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CMakeLists.txt
@@ -14,6 +14,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
 if(BUILD_TESTING)
   ament_add_ros_isolated_gtest(test_${PROJECT_NAME}
     test/test_scene.cpp
+    test/test_node_interface.cpp
   )
   target_link_libraries(test_${PROJECT_NAME}
     gtest_main
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml
index fd4b9f83ae998..849ab3915c649 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml
@@ -20,6 +20,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
+  <depend>autoware_behavior_velocity_planner</depend>
   <depend>autoware_behavior_velocity_planner_common</depend>
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_motion_utils</depend>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/test/test_node_interface.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/test/test_node_interface.cpp
new file mode 100644
index 0000000000000..c6d6ff638cfbb
--- /dev/null
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/test/test_node_interface.cpp
@@ -0,0 +1,64 @@
+// Copyright 2024 TIER IV, Inc.
+//
+// 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.
+
+#include <autoware/behavior_velocity_planner/test_utils.hpp>
+
+#include <gtest/gtest.h>
+
+#include <cmath>
+#include <memory>
+#include <string>
+#include <vector>
+
+namespace autoware::behavior_velocity_planner
+{
+TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionPathWithLaneID)
+{
+  rclcpp::init(0, nullptr);
+  auto test_manager = autoware::behavior_velocity_planner::generateTestManager();
+  auto test_target_node = autoware::behavior_velocity_planner::generateNode({});
+
+  autoware::behavior_velocity_planner::publishMandatoryTopics(test_manager, test_target_node);
+
+  // test with nominal path_with_lane_id
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalPathWithLaneId(test_target_node));
+  EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
+
+  // test with empty path_with_lane_id
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithAbnormalPathWithLaneId(test_target_node));
+  rclcpp::shutdown();
+}
+
+TEST(PlanningModuleInterfaceTest, NodeTestWithOffTrackEgoPose)
+{
+  rclcpp::init(0, nullptr);
+
+  const auto plugin_info_vec = {autoware::behavior_velocity_planner::PluginInfo{
+    "stop_line", "autoware::behavior_velocity_planner::StopLineModulePlugin"}};
+
+  auto test_manager = autoware::behavior_velocity_planner::generateTestManager();
+  auto test_target_node = autoware::behavior_velocity_planner::generateNode(plugin_info_vec);
+  autoware::behavior_velocity_planner::publishMandatoryTopics(test_manager, test_target_node);
+
+  // test for normal trajectory
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalPathWithLaneId(test_target_node));
+
+  // make sure behavior_path_planner is running
+  EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
+
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testOffTrackFromPathWithLaneId(test_target_node));
+
+  rclcpp::shutdown();
+}
+}  // namespace autoware::behavior_velocity_planner
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CMakeLists.txt b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CMakeLists.txt
index 6370dd5e6c21d..02ed192459970 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CMakeLists.txt
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CMakeLists.txt
@@ -15,6 +15,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
 if(BUILD_TESTING)
   ament_add_ros_isolated_gtest(test_${PROJECT_NAME}
   test/test_utils.cpp
+  test/test_node_interface.cpp
   )
   target_link_libraries(test_${PROJECT_NAME}
     ${PROJECT_NAME}
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml
index ebc45d372f92d..4bc7a15cddc48 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml
@@ -19,6 +19,7 @@
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
   <depend>autoware_adapi_v1_msgs</depend>
+  <depend>autoware_behavior_velocity_planner</depend>
   <depend>autoware_behavior_velocity_planner_common</depend>
   <depend>autoware_behavior_velocity_rtc_interface</depend>
   <depend>autoware_lanelet2_extension</depend>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/test/test_node_interface.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/test/test_node_interface.cpp
new file mode 100644
index 0000000000000..e24c2dab5dab9
--- /dev/null
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/test/test_node_interface.cpp
@@ -0,0 +1,64 @@
+// Copyright 2024 TIER IV, Inc.
+//
+// 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.
+
+#include <autoware/behavior_velocity_planner/test_utils.hpp>
+
+#include <gtest/gtest.h>
+
+#include <cmath>
+#include <memory>
+#include <string>
+#include <vector>
+
+namespace autoware::behavior_velocity_planner
+{
+TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionPathWithLaneID)
+{
+  rclcpp::init(0, nullptr);
+  auto test_manager = autoware::behavior_velocity_planner::generateTestManager();
+  auto test_target_node = autoware::behavior_velocity_planner::generateNode({});
+
+  autoware::behavior_velocity_planner::publishMandatoryTopics(test_manager, test_target_node);
+
+  // test with nominal path_with_lane_id
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalPathWithLaneId(test_target_node));
+  EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
+
+  // test with empty path_with_lane_id
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithAbnormalPathWithLaneId(test_target_node));
+  rclcpp::shutdown();
+}
+
+TEST(PlanningModuleInterfaceTest, NodeTestWithOffTrackEgoPose)
+{
+  rclcpp::init(0, nullptr);
+
+  const auto plugin_info_vec = {autoware::behavior_velocity_planner::PluginInfo{
+    "traffic_light", "autoware::behavior_velocity_planner::TrafficLightModulePlugin"}};
+
+  auto test_manager = autoware::behavior_velocity_planner::generateTestManager();
+  auto test_target_node = autoware::behavior_velocity_planner::generateNode(plugin_info_vec);
+  autoware::behavior_velocity_planner::publishMandatoryTopics(test_manager, test_target_node);
+
+  // test for normal trajectory
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalPathWithLaneId(test_target_node));
+
+  // make sure behavior_path_planner is running
+  EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
+
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testOffTrackFromPathWithLaneId(test_target_node));
+
+  rclcpp::shutdown();
+}
+}  // namespace autoware::behavior_velocity_planner
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml
index 6d3bc68242d7c..056f84a970c58 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml
@@ -18,6 +18,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_adapi_v1_msgs</depend>
+  <depend>autoware_behavior_velocity_planner</depend>
   <depend>autoware_behavior_velocity_planner_common</depend>
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_motion_utils</depend>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/test/test_node_interface.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/test/test_node_interface.cpp
new file mode 100644
index 0000000000000..9cb6bbfd40639
--- /dev/null
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/test/test_node_interface.cpp
@@ -0,0 +1,65 @@
+// Copyright 2024 TIER IV, Inc.
+//
+// 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.
+
+#include <autoware/behavior_velocity_planner/test_utils.hpp>
+
+#include <gtest/gtest.h>
+
+#include <cmath>
+#include <memory>
+#include <string>
+#include <vector>
+
+namespace autoware::behavior_velocity_planner
+{
+TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionPathWithLaneID)
+{
+  rclcpp::init(0, nullptr);
+  auto test_manager = autoware::behavior_velocity_planner::generateTestManager();
+  auto test_target_node = autoware::behavior_velocity_planner::generateNode({});
+
+  autoware::behavior_velocity_planner::publishMandatoryTopics(test_manager, test_target_node);
+
+  // test with nominal path_with_lane_id
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalPathWithLaneId(test_target_node));
+  EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
+
+  // test with empty path_with_lane_id
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithAbnormalPathWithLaneId(test_target_node));
+  rclcpp::shutdown();
+}
+
+TEST(PlanningModuleInterfaceTest, NodeTestWithOffTrackEgoPose)
+{
+  rclcpp::init(0, nullptr);
+
+  const auto plugin_info_vec = {autoware::behavior_velocity_planner::PluginInfo{
+    "virtual_traffic_light",
+    "autoware::behavior_velocity_planner::VirtualTrafficLightModulePlugin"}};
+
+  auto test_manager = autoware::behavior_velocity_planner::generateTestManager();
+  auto test_target_node = autoware::behavior_velocity_planner::generateNode(plugin_info_vec);
+  autoware::behavior_velocity_planner::publishMandatoryTopics(test_manager, test_target_node);
+
+  // test for normal trajectory
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalPathWithLaneId(test_target_node));
+
+  // make sure behavior_path_planner is running
+  EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
+
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testOffTrackFromPathWithLaneId(test_target_node));
+
+  rclcpp::shutdown();
+}
+}  // namespace autoware::behavior_velocity_planner
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CMakeLists.txt b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CMakeLists.txt
index 11504d9c8999c..8b11fdce7283e 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CMakeLists.txt
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CMakeLists.txt
@@ -11,4 +11,14 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
   src/scene_walkway.cpp
 )
 
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+  file(GLOB_RECURSE TEST_SOURCES test/*.cpp)
+  ament_add_ros_isolated_gtest(test_${PROJECT_NAME}
+    ${TEST_SOURCES}
+  )
+  target_link_libraries(test_${PROJECT_NAME} ${PROJECT_NAME})
+endif()
+
 ament_auto_package(INSTALL_TO_SHARE config)
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml
index 5f1aea22855a4..857d9b524beb0 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml
@@ -18,6 +18,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_behavior_velocity_crosswalk_module</depend>
+  <depend>autoware_behavior_velocity_planner</depend>
   <depend>autoware_behavior_velocity_planner_common</depend>
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_motion_utils</depend>
@@ -31,6 +32,7 @@
   <depend>rclcpp</depend>
   <depend>visualization_msgs</depend>
 
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/test/test_node_interface.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/test/test_node_interface.cpp
new file mode 100644
index 0000000000000..e0b7fa5c31965
--- /dev/null
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/test/test_node_interface.cpp
@@ -0,0 +1,64 @@
+// Copyright 2024 TIER IV, Inc.
+//
+// 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.
+
+#include <autoware/behavior_velocity_planner/test_utils.hpp>
+
+#include <gtest/gtest.h>
+
+#include <cmath>
+#include <memory>
+#include <string>
+#include <vector>
+
+namespace autoware::behavior_velocity_planner
+{
+TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionPathWithLaneID)
+{
+  rclcpp::init(0, nullptr);
+  auto test_manager = autoware::behavior_velocity_planner::generateTestManager();
+  auto test_target_node = autoware::behavior_velocity_planner::generateNode({});
+
+  autoware::behavior_velocity_planner::publishMandatoryTopics(test_manager, test_target_node);
+
+  // test with nominal path_with_lane_id
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalPathWithLaneId(test_target_node));
+  EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
+
+  // test with empty path_with_lane_id
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithAbnormalPathWithLaneId(test_target_node));
+  rclcpp::shutdown();
+}
+
+TEST(PlanningModuleInterfaceTest, NodeTestWithOffTrackEgoPose)
+{
+  rclcpp::init(0, nullptr);
+
+  const auto plugin_info_vec = {autoware::behavior_velocity_planner::PluginInfo{
+    "walkway", "autoware::behavior_velocity_planner::WalkwayModulePlugin"}};
+
+  auto test_manager = autoware::behavior_velocity_planner::generateTestManager();
+  auto test_target_node = autoware::behavior_velocity_planner::generateNode(plugin_info_vec);
+  autoware::behavior_velocity_planner::publishMandatoryTopics(test_manager, test_target_node);
+
+  // test for normal trajectory
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalPathWithLaneId(test_target_node));
+
+  // make sure behavior_path_planner is running
+  EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
+
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testOffTrackFromPathWithLaneId(test_target_node));
+
+  rclcpp::shutdown();
+}
+}  // namespace autoware::behavior_velocity_planner