diff --git a/perception/autoware_detected_object_feature_remover/CMakeLists.txt b/perception/autoware_detected_object_feature_remover/CMakeLists.txt
index 54763f8bff9ab..58384613f7d3f 100644
--- a/perception/autoware_detected_object_feature_remover/CMakeLists.txt
+++ b/perception/autoware_detected_object_feature_remover/CMakeLists.txt
@@ -13,6 +13,20 @@ rclcpp_components_register_node(${PROJECT_NAME}
   EXECUTABLE detected_object_feature_remover_node
 )
 
+if(BUILD_TESTING)
+  find_package(ament_cmake_ros REQUIRED)
+  # run node unit testings with ROS_DOMAIN_ID isolation
+  ament_add_ros_isolated_gtest(test_${PROJECT_NAME}_node
+    test/test_detected_object_feature_remover_node.cpp
+  )
+  target_include_directories(test_${PROJECT_NAME}_node PRIVATE src)
+  target_link_libraries(test_${PROJECT_NAME}_node ${${PROJECT_NAME}_LIBRARIES})
+  ament_target_dependencies(test_${PROJECT_NAME}_node
+    ${${PROJECT_NAME}_FOUND_BUILD_DEPENDS}
+    ${${PROJECT_NAME}_FOUND_TEST_DEPENDS}
+  )
+endif()
+
 ament_auto_package(
   INSTALL_TO_SHARE
     launch
diff --git a/perception/autoware_detected_object_feature_remover/package.xml b/perception/autoware_detected_object_feature_remover/package.xml
index eb64490df1f0f..8726e2bf26071 100644
--- a/perception/autoware_detected_object_feature_remover/package.xml
+++ b/perception/autoware_detected_object_feature_remover/package.xml
@@ -21,6 +21,7 @@
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
+  <test_depend>autoware_test_utils</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/perception/autoware_detected_object_feature_remover/test/test_detected_object_feature_remover_node.cpp b/perception/autoware_detected_object_feature_remover/test/test_detected_object_feature_remover_node.cpp
new file mode 100644
index 0000000000000..e54151786278a
--- /dev/null
+++ b/perception/autoware_detected_object_feature_remover/test/test_detected_object_feature_remover_node.cpp
@@ -0,0 +1,182 @@
+// 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 "detected_object_feature_remover_node.hpp"
+
+#include <autoware_test_utils/autoware_test_utils.hpp>
+#include <rclcpp/time.hpp>
+
+#include "tier4_perception_msgs/msg/detail/detected_object_with_feature__struct.hpp"
+
+#include <gtest/gtest.h>
+
+namespace
+{
+using autoware::detected_object_feature_remover::DetectedObjectFeatureRemover;
+using autoware::test_utils::AutowareTestManager;
+using autoware_perception_msgs::msg::DetectedObject;
+using autoware_perception_msgs::msg::DetectedObjects;
+using tier4_perception_msgs::msg::DetectedObjectsWithFeature;
+using tier4_perception_msgs::msg::DetectedObjectWithFeature;
+
+/**
+ * @brief Return a new `autoware::test_utils::AutowareTestManager` instance as a shared pointer.
+ *
+ * @return Shared pointer of `autoware::test_utils::AutowareTestManager`.
+ */
+std::shared_ptr<AutowareTestManager> generate_test_manager()
+{
+  return std::make_shared<AutowareTestManager>();
+}
+
+/**
+ * @brief Return a new `autoware::detected_object_feature_remover::DetectedObjectFeatureRemover`
+ * instance as a shared pointer.
+ *
+ * @return Shared pointer of
+ * `autoware::detected_object_feature_remover::DetectedObjectFeatureRemover`.
+ */
+std::shared_ptr<DetectedObjectFeatureRemover> generate_node(
+  const std::string & input_topic, const std::string & output_topic)
+{
+  auto node_options = rclcpp::NodeOptions{};
+  node_options.arguments(
+    {"--ros-args", "-r", "~/input:=" + input_topic, "-r", "~/output:=" + output_topic});
+
+  return std::make_shared<DetectedObjectFeatureRemover>(node_options);
+}
+
+/**
+ * @brief Return a new `autoware_perception_msgs::msg::DetectedObject` instance.
+ *
+ * @return New instance of `autoware_perception_msgs::msg::DetectedObject`.
+ */
+DetectedObject generate_detected_object()
+{
+  DetectedObject output;
+  output.kinematics.pose_with_covariance.pose.position.x = 1.0;
+  output.kinematics.pose_with_covariance.pose.position.y = 2.0;
+  output.kinematics.pose_with_covariance.pose.position.z = 3.0;
+  output.kinematics.pose_with_covariance.pose.orientation.x = 0.0;
+  output.kinematics.pose_with_covariance.pose.orientation.y = 0.0;
+  output.kinematics.pose_with_covariance.pose.orientation.z = 0.0;
+  output.kinematics.pose_with_covariance.pose.orientation.w = 1.0;
+  return output;
+}
+
+/**
+ * @brief Return a new `tier4_perception_msgs::msg::DetectedObjectWithFeature` instance.
+ * @details Return a object including a single object created by `generate_detected_object`.
+ *
+ * @return New instance of `tier4_perception_msgs::msg::DetectedObjectWithFeature`.
+ */
+DetectedObjectWithFeature generate_feature_object()
+{
+  DetectedObjectWithFeature output;
+  output.object = generate_detected_object();
+  return output;
+}
+
+/**
+ * @brief Return a new `tier4_perception_msgs::msg::DetectedObjectsWithFeature` instance.
+ * @details If `as_emtpy=true`, returns a instance without any objects. Otherwise, returns a
+ * instance including a single object created by `generate_feature_object`.
+ *
+ * @param stamp Timestamp of the message.
+ * @param as_empty Whether to return a instance without any objects.
+ * @return New instance of `tier4_perception_mgs::msg::DetectedObjectsWIthFeature`.
+ */
+DetectedObjectsWithFeature generate_feature_objects(const rclcpp::Time & stamp, bool as_empty)
+{
+  DetectedObjectsWithFeature output;
+  output.header.frame_id = "base_link";
+  output.header.stamp = stamp;
+  if (!as_empty) {
+    auto object = generate_feature_object();
+    output.feature_objects.emplace_back(object);
+  }
+  return output;
+}
+}  // namespace
+
+/**
+ * Test suite of DetectedObjectFeatureRemover.
+ *
+ * This test case checks whether the node works if the arbitrary object is input.
+ */
+TEST(FeatureRemoverTest, TestArbitraryObject)
+{
+  const std::string input_topic = "/detected_object_feature_remover/input";
+  const std::string output_topic = "/detected_object_feature_remover/output";
+  auto test_manager = generate_test_manager();
+  auto node = generate_node(input_topic, output_topic);
+
+  // set output subscriber
+  DetectedObjects output;
+  auto callback = [&output](const DetectedObjects::ConstSharedPtr msg) {
+    output.header = msg->header;
+    output.objects = msg->objects;
+  };
+  test_manager->set_subscriber<DetectedObjects>(output_topic, callback);
+
+  // prepare input
+  auto stamp = node->get_clock()->now();
+  constexpr bool as_empty = false;
+  auto input = generate_feature_objects(stamp, as_empty);
+  test_manager->test_pub_msg<DetectedObjectsWithFeature>(node, input_topic, input);
+
+  // Check output
+  auto expect = generate_detected_object();
+  EXPECT_EQ(1, output.objects.size());
+  EXPECT_EQ(expect, output.objects.front());
+}
+
+/**
+ * Test suite of DetectedObjectFeatureRemover.
+ *
+ * This test case checks whether the node works if the empty object is input.
+ */
+TEST(FeatureRemoverTest, TestEmptyObject)
+{
+  const std::string input_topic = "/detected_object_feature_remover/input";
+  const std::string output_topic = "/detected_object_feature_remover/output";
+  auto test_manager = generate_test_manager();
+  auto node = generate_node(input_topic, output_topic);
+
+  // set output subscriber
+  DetectedObjects output;
+  auto callback = [&output](const DetectedObjects::ConstSharedPtr msg) {
+    output.header = msg->header;
+    output.objects = msg->objects;
+  };
+  test_manager->set_subscriber<DetectedObjects>(output_topic, callback);
+
+  // prepare input
+  auto stamp = node->get_clock()->now();
+  constexpr bool as_empty = true;
+  auto input = generate_feature_objects(stamp, as_empty);
+  test_manager->test_pub_msg<DetectedObjectsWithFeature>(node, input_topic, input);
+
+  // Check output
+  EXPECT_EQ(0, output.objects.size());
+}
+
+int main(int argc, char ** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  rclcpp::init(argc, argv);
+  bool result = RUN_ALL_TESTS();
+  rclcpp::shutdown();
+  return result;
+}