diff --git a/.github/workflows/coverage-build.yml b/.github/workflows/coverage-build.yml
index b26bc2d2b..266efdca8 100644
--- a/.github/workflows/coverage-build.yml
+++ b/.github/workflows/coverage-build.yml
@@ -19,32 +19,36 @@ jobs:
       - uses: ros-tooling/setup-ros@v0.7
         with:
           required-ros-distributions: ${{ env.ROS_DISTRO }}
+          use-ros2-testing: true
       - uses: actions/checkout@v4
       - uses: ros-tooling/action-ros-ci@v0.3
         with:
           target-ros2-distro: ${{ env.ROS_DISTRO }}
           # build all packages listed in the meta package
           package-name:
-            ur
+            ur_calibration
             ur_controllers
-            ur_dashboard_msgs
-            ur_moveit_config
             ur_robot_driver
           vcs-repo-file-url: |
             https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/Universal_Robots_ROS2_Driver-not-released.${{ env.ROS_DISTRO }}.repos
           colcon-defaults: |
             {
               "build": {
-                "mixin": ["coverage-gcc"]
+                "mixin": ["coverage-gcc", "coverage-pytest"]
+              },
+              "test": {
+                "mixin": ["coverage-pytest"]
               }
             }
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-          skip-tests: true
-      - uses: codecov/codecov-action@v3
+          skip-tests: false
+      - uses: codecov/codecov-action@v5
         with:
+          fail_ci_if_error: true
           file: ros_ws/lcov/total_coverage.info
           flags: unittests
           name: codecov-umbrella
+          token: ${{ secrets.CODECOV_TOKEN }}
       - uses: actions/upload-artifact@v4
         with:
           name: colcon-logs-${{ matrix.os }}