diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 0056bceae48a9e98b9abe05a117528445e7c5a50..514c68eeb6eb1e901215963e25ea1af383981d04 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -27,7 +27,7 @@ catkin_tools:
   script:
     - catkin build --summarize --no-status --force-color
 
-catkin tools_tests:
+ctest:
   stage: test
   script:
     - catkin config --cmake-args -DCMAKE_BUILD_TYPE=Debug # release optimizations cause tests to fail
diff --git a/test_package/CMakeLists.txt b/test_package/CMakeLists.txt
deleted file mode 100644
index 9794096ecb2dcbb3b23d1d9534f61661e7dc0de7..0000000000000000000000000000000000000000
--- a/test_package/CMakeLists.txt
+++ /dev/null
@@ -1,8 +0,0 @@
-project(PackageTest)
-cmake_minimum_required(VERSION 2.8.12)
-
-include(${CMAKE_BINARY_DIR}/conanbuildinfo.cmake)
-conan_basic_setup()
-
-add_executable(example example.cpp)
-target_link_libraries(example ${CONAN_LIBS} ${CMAKE_DL_LIBS})
diff --git a/test_package/conanfile.py b/test_package/conanfile.py
deleted file mode 100644
index 28d64e36c9ea556ee304cd766bfff482f2f8ecfa..0000000000000000000000000000000000000000
--- a/test_package/conanfile.py
+++ /dev/null
@@ -1,20 +0,0 @@
-from conans import ConanFile, CMake
-import os
-
-
-class Gl3wTestConan(ConanFile):
-    settings = "os", "compiler", "build_type", "arch"
-    generators = "cmake"
-
-    def build(self):
-        cmake = CMake(self)
-        cmake.configure()
-        cmake.build()
-
-    def imports(self):
-        self.copy("*.dll", dst="bin", src="bin")
-        self.copy("*.dylib*", dst="bin", src="lib")
-
-    def test(self):
-        os.chdir("bin")
-        self.run(".%sexample" % os.sep)
diff --git a/test_package/example.cpp b/test_package/example.cpp
deleted file mode 100644
index 5d79acbc8053af46f7a47b138919207042cce016..0000000000000000000000000000000000000000
--- a/test_package/example.cpp
+++ /dev/null
@@ -1,58 +0,0 @@
-#include <filter_bay/kalman_filter/kalman_filter.hpp>
-#include <iostream>
-
-// Typedef the filter to get correct Matrices
-using MyFilter = typename filter_bay::KalmanFilter<2, 3, 1, 1>;
-using TransitionModel = typename MyFilter::TransitionModel;
-using ObservationModel = typename MyFilter::ObservationModel;
-// Threshold for positiv floating point test
-const double EPS = 0.01;
-const int LOOP_COUNT = 10000;
-// Parameters of model
-const double T = 1;
-const double c = 5;
-const double d = 2;
-const double m = 10;
-const double var_p = 0.3;
-const double var_m = 0.1;
-
-/*!
-Creates the kalman filter for the test methods.
-*/
-MyFilter create_filter()
-{
-  // transition model
-  TransitionModel::TransitionMatrix F;
-  F << 1 - c * pow(T, 2) / (2 * m),
-      T - d * pow(T, 2) / (2 * m),
-      -c * T / m,
-      1 - d * T / m;
-  TransitionModel::InputMatrix B;
-  B << c * pow(T, 2) / (2 * m),
-      d * pow(T, 2) / (2 * m),
-      pow(T, 2) / (2 * m),
-      c * T / m,
-      d * T / m,
-      T / m;
-  TransitionModel::NoiseMatrix G;
-  G << pow(T, 2) / (2 * m),
-      T / m;
-  TransitionModel transition_model(std::move(F),
-                                   std::move(B), std::move(G));
-  // observation model
-  ObservationModel::ObservationMatrix H;
-  H << 1, 0;
-  ObservationModel::NoiseCovariance R;
-  R << var_m;
-  ObservationModel observation_model(std::move(H), std::move(R));
-  // filter
-  return MyFilter(std::move(transition_model), std::move(observation_model));
-}
-
-int main(int argc, char **argv)
-{
-  auto my_filter = create_filter();
-  std::cout << "Initialized a filter with state " << my_filter.get_state()
-            << "\n";
-  return EXIT_SUCCESS;
-}
\ No newline at end of file