diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index b3a7351c..ed92401d 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -130,9 +130,48 @@ jobs:
           name: web-app-server
           path: telematic_system/telematic_apps/web_app/server/coverage/*
           if-no-files-found: error
+  rosbag2_processing_service_coverage:
+    runs-on: ubuntu-latest
+    container:
+      image: ros:foxy
+      options: --user root
+    steps:
+      - name: Checkout ${{ github.event.repository.name }}
+        uses: actions/checkout@v3
+      - name: Load Environment Variables
+        shell: bash
+        run: |
+          while read -r line; do export "$line"; done < $GITHUB_WORKSPACE/telematic_system/historical_data_processing/rosbag2_processing_service/.env
+      - name: Install dependencies and build
+        shell: bash
+        run: |
+          apt-get update
+          apt-get -y install python3-coverage python3-pip python3-pytest python3-pytest-asyncio ros-foxy-rclpy unzip 
+          python3 -m pip install nats-py influxdb influxdb_client mcap-ros2-support pathlib
+          apt install -y apt-utils python3-pybind11 ros-foxy-test-msgs python3-colcon-common-extensions
+          cd $GITHUB_WORKSPACE/telematic_system/historical_data_processing/rosbag2_processing_service
+          source /opt/ros/foxy/setup.bash
+          colcon build --packages-up-to rosbag2_processing_service
+      - name: Run tests
+        shell: bash
+        run: |
+          export PYTHONPATH=$PYTHONPATH:/usr/lib/python3/dist-packages
+          cd $GITHUB_WORKSPACE/telematic_system/historical_data_processing/rosbag2_processing_service/test/
+          python3 -m coverage run -m pytest
+          python3 -m coverage xml --omit="/opt/*,/root/*,/tmp/*,/usr/*,/var/*,**/__init__.py"
+      - name: Find coverage.xml
+        shell: bash
+        run: |
+          find "$GITHUB_WORKSPACE" -name "coverage.xml"          
+      - name: Archive code coverage results
+        uses: actions/upload-artifact@v3
+        with:
+          name: rosbag2-processing-service-coverage
+          path: telematic_system/thistorical_data_processing/rosbag2_processing_service/test/coverage.xml
+          if-no-files-found: error             
   sonar:
     # Remove cloud bridge and vehicle bridge coverage temporarily as test build failed
-    needs: [telematic_cloud_messaging_coverage, web_app_client_coverage, web_app_server_coverage]
+    needs: [telematic_cloud_messaging_coverage, web_app_client_coverage, web_app_server_coverage, rosbag2_processing_service_coverage]
     runs-on: ubuntu-latest
     steps:
       - name: Checkout ${{ github.event.repository.name }}
@@ -214,7 +253,7 @@ jobs:
           sonar.scm.exclusions.disabled=true
           extraProperties: |
             sonar.verbose=true
-          sonar.python.coverage.reportPaths=$GITHUB_WORKSPACE/carma_cloud_bridge/coverage.xml,$GITHUB_WORKSPACE/carma_vehicle_bridge/coverage.xml
+          sonar.python.coverage.reportPaths=$GITHUB_WORKSPACE/carma_cloud_bridge/coverage.xml,$GITHUB_WORKSPACE/carma_vehicle_bridge/coverage.xml,$GITHUB_WORKSPACE/rosbag2_processing_service/coverage.xml
           sonar.python.version=3.9
           cloud_nats_bridge.sonar.projectBaseDir=$GITHUB_WORKSPACE/telematic_system/telematic_units/carma_cloud_bridge/cloud_nats_bridge
           cloud_nats_bridge.sonar.sources=src
@@ -222,6 +261,9 @@ jobs:
           ros2_nats_bridge.sonar.projectBaseDir=$GITHUB_WORKSPACE/telematic_system/telematic_units/carma_vehicle_bridge/ros2_nats_bridge
           ros2_nats_bridge.sonar.sources=.
           ros2_nats_bridge.sonar.tests=test
+          ros2_nats_bridge.sonar.projectBaseDir=$GITHUB_WORKSPACE/telematic_system/historical_data_processing/rosbag2_processing_service
+          ros2_nats_bridge.sonar.sources=.
+          ros2_nats_bridge.sonar.tests=test
           streets_nats_bridge.sonar.projectBaseDir=$GITHUB_WORKSPACE/telematic_system/telematic_units/carma_street_bridge/streets_nats_bridge
           streets_nats_bridge.sonar.sources=src
           telematic_cloud_messaging.sonar.projectBaseDir=$GITHUB_WORKSPACE/telematic_system/telematic_cloud_messaging