diff --git a/jsk_tools/CMakeLists.txt b/jsk_tools/CMakeLists.txt
index c1a9e6779..6ae62abfa 100644
--- a/jsk_tools/CMakeLists.txt
+++ b/jsk_tools/CMakeLists.txt
@@ -27,6 +27,7 @@ endforeach(exec)
 
 if (CATKIN_ENABLE_TESTING)
   find_package(roslint REQUIRED)
+  roslint_python(src/audible_warning.py)
   roslint_python(src/jsk_tools/cltool.py)
   roslint_python(src/test_topic_published.py)
   roslint_python(src/test_rosparam_set.py)
@@ -49,6 +50,7 @@ if (CATKIN_ENABLE_TESTING)
     # https://github.com/jsk-ros-pkg/jsk_common/pull/1293#issuecomment-164158260
     jsk_tools_add_rostest(test/test_rosparam_set.test)
   endif()
+  jsk_tools_add_rostest(test/test_audible_warning.test)
   jsk_tools_add_rostest(test/test_stdout.test)
   jsk_tools_add_rostest(test/test_rostopic_host_sanity.test)
   jsk_tools_add_rostest(test/test_sanity_diagnostics.test)
diff --git a/jsk_tools/sample/sample_audible_warning.launch b/jsk_tools/sample/sample_audible_warning.launch
index 25abf7e2f..df665639c 100644
--- a/jsk_tools/sample/sample_audible_warning.launch
+++ b/jsk_tools/sample/sample_audible_warning.launch
@@ -2,6 +2,7 @@
 
   <arg name="gui" default="true" />
   <arg name="device" default="" />
+  <arg name="launch_sound_play" default="true" />
 
   <node name="pseudo_diagnostics"
         pkg="jsk_tools" type="pseudo_diagnostics.py"
@@ -15,7 +16,8 @@
   </node>
 
   <node name="sound_play"
-        pkg="sound_play" type="soundplay_node.py">
+        pkg="sound_play" type="soundplay_node.py"
+        if="$(arg launch_sound_play)" >
     <param name="device" value="$(arg device)" />
     <param name="loop_rate" value="100" />
   </node>
diff --git a/jsk_tools/test/test_audible_warning.test b/jsk_tools/test/test_audible_warning.test
new file mode 100644
index 000000000..12ff0904e
--- /dev/null
+++ b/jsk_tools/test/test_audible_warning.test
@@ -0,0 +1,17 @@
+<launch>
+
+  <include file="$(find jsk_tools)/sample/sample_audible_warning.launch" >
+    <arg name="device" value="plughw:100,0" />  <!-- pseudo device -->
+    <arg name="gui" value="false" />
+  </include>
+
+  <test test-name="test_topic_published"
+        name="test_topic_published"
+        pkg="jsk_tools" type="test_topic_published.py">
+    <rosparam>
+      topic_0: /sound_play/goal
+      timeout_0: 10
+    </rosparam>
+  </test>
+
+</launch>