diff --git a/realsense2_camera/test/live_camera/rosci.py b/realsense2_camera/test/live_camera/rosci.py
new file mode 100755
index 0000000000..eb633572dc
--- /dev/null
+++ b/realsense2_camera/test/live_camera/rosci.py
@@ -0,0 +1,137 @@
+# Copyright 2023 Intel Corporation. All Rights Reserved.
+#
+# 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.
+
+import sys, os, subprocess, re, platform, getopt, time
+start_time = time.time()
+running_on_ci = False
+if 'WORKSPACE' in os.environ:
+    #Path for ROS-CI on Jenkins
+    ws_rosci = os.environ['WORKSPACE']
+    sys.path.append( os.path.join( ws_rosci, 'lrs/unit-tests/py' ))
+    running_on_ci = True
+else:
+    #For running this script locally
+    #Extract the root where both realsense-ros and librealsense are cloned
+    ws_local = '/'.join(os.path.abspath( __file__ ).split( os.path.sep )[0:-5])
+    #expected to have 'librealsense' repo in parallel to 'realsense-ros'
+    assert os.path.exists( os.path.join(ws_local, 'librealsense')), f" 'librealsense' doesn't exist at {ws_local} "
+    sys.path.append( os.path.join( ws_local, 'librealsense/unit-tests/py' ))
+
+dir_live_tests = os.path.dirname(__file__)
+from rspy import log, libci
+hub_reset = False
+logdir = None
+handle = None
+test_ran = False
+
+def usage():
+    ourname = os.path.basename( sys.argv[0] )
+    print( 'Syntax: ' + ourname + ' [options] ' )
+    print( 'Options:' )
+    print( '        -h, --help            Usage help' )
+    print( '            --debug           Turn on debugging information (does not include LibRS debug logs; see --rslog)' )
+        
+    sys.exit( 2 )
+
+def command(dev_name):
+       cmd =  ['pytest-3']
+       cmd += ['-s']
+       cmd += ['-m', ''.join(dev_name)]
+       cmd += ['-k', 'test_camera_imu_tests'] 
+       cmd += [''.join(dir_live_tests)]
+       cmd += ['--debug']
+       return cmd
+
+def run_test(cmd, dev_name, stdout=None, append =False):
+        handle = None
+        try:
+            stdout = stdout + os.sep + str(dev_name) + '_' + "test_camera_imu_tests" + ".log"
+            if stdout is None:
+                sys.stdout.flush()
+            elif stdout and stdout != subprocess.PIPE:
+                if append:
+                    handle = open( stdout, "a" )
+                    handle.write(
+                        "\n----------TEST-SEPARATOR----------\n\n" )
+                    handle.flush()
+                else:
+                    handle = open( stdout, "w" )
+
+            result = subprocess.run( cmd,
+                    stdout=handle,
+                    stderr=subprocess.STDOUT,
+                    universal_newlines=True,
+                    timeout=200,
+                    check=True )
+            if not result.returncode:
+                 log.i("---Test Passed---")
+        except Exception as e:
+             log.e("---Test Failed---")
+             log.w( "Error Exception:\n ",e )
+                         
+        finally:
+            if handle:
+                handle.close()      
+
+try:
+    opts, args = getopt.getopt( sys.argv[1:], 'h', longopts=['help', 'debug' ] )
+except getopt.GetoptError as err:
+    log.e( err )  # something like "option -a not recognized"
+    usage()
+
+for opt, arg in opts:
+    if opt in ('-h', '--help'):
+        usage()
+      
+#Find device, Run test    
+try:
+    #logs are stored @ ./realsense2_camera/test
+    logdir = os.path.join( '/'.join(os.path.abspath( __file__ ).split( os.path.sep )[0:-2]), 'logs')
+    os.makedirs( logdir, exist_ok=True )
+
+    #Import '_device_by_sn' from devices.py module of librealsense repo
+    from rspy import devices
+    if not devices.hub:
+         assert False, 'No hub available'
+    else:
+        devices.hub.connect()
+
+    devices.query( hub_reset = hub_reset )
+    global _device_by_sn         
+
+    if not devices._device_by_sn:
+         assert False, 'No Camera device detected!'
+    else:
+        #Loop in for all devices and run tests
+        for device in devices._device_by_sn.values():
+            log.i(f'Device found: {device.name} ')
+            if device.name == 'D455':
+                log.i('Running test on device:', device.name)
+                cmd = command(str(device.name).lower())
+                run_test(cmd, device.name, stdout=logdir, append =False)
+                test_ran = True
+            else:
+                log.i('Skipping test on device:', device.name)
+
+finally:
+        devices.hub.disconnect()
+        if running_on_ci:
+            log.i("Log path- \"Build Artifacts\":/ros2/realsense_camera/test/logs ")
+        else:
+             log.i("log path:", logdir)
+        assert test_ran, "No test cases ran"
+        run_time = time.time() - start_time
+        log.d( "server took", run_time, "seconds" )
+
+sys.exit( 0 )