diff --git a/.yamato/yamato-config.yml b/.yamato/yamato-config.yml
index e10aae1..fd97b5d 100644
--- a/.yamato/yamato-config.yml
+++ b/.yamato/yamato-config.yml
@@ -9,14 +9,19 @@ commands:
     - python3 -m pip install unity-downloader-cli --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple --upgrade
     - unity-downloader-cli -u 2020.2.0b9 -c editor -c StandaloneSupport-IL2CPP -c Linux --wait --published
     - git clone git@github.cds.internal.unity3d.com:unity/utr.git utr
-    - utr/utr --testproject=./TestRosTcpConnector --editor-location=.Editor --reruncount=0 --artifacts_path=test-results --suite=playmode --suite=editor --platform=Editor
+    - utr/utr --testproject=./TestRosTcpConnector --editor-location=.Editor --reruncount=0 --artifacts_path=test-results --suite=playmode --suite=editor --platform=Editor --enable-code-coverage --coverage-results-path=../test-results --coverage-options="assemblyFilters:+Unity.Robotics.ROSTCPConnector,+Unity.Robotics.ROSTCPConnector.Editor;generateHtmlReport;generateBadgeReport;generateAdditionalMetrics"
+    # check test coverage
+    - command: |
+        linecoverage=$(cat test-results/Report/Summary.xml | grep Linecoverage | grep -Eo '[+-]?[0-9]+([.][0-9]+)?')
+        echo "Line coverage: $linecoverage%"
+        if (( $(echo "$linecoverage < 0" | bc -l) )); then exit 1; fi
 triggers:
     cancel_old_ci: true
     expression: |
         (pull_request.target eq "main"  AND
         NOT pull_request.push.changes.all match "**/*.md") OR
-        (push.branch eq "dev" AND
-        NOT push.changes.all match "**/*.md")
+        (pull_request.target eq "dev" AND
+        NOT pull_request.push.changes.all match "**/*.md")
 artifacts:
     logs:
         paths:
diff --git a/TestRosTcpConnector/Packages/manifest.json b/TestRosTcpConnector/Packages/manifest.json
index 865f8ad..abb1543 100644
--- a/TestRosTcpConnector/Packages/manifest.json
+++ b/TestRosTcpConnector/Packages/manifest.json
@@ -6,7 +6,8 @@
     "com.unity.ide.vscode": "1.2.2",
     "com.unity.render-pipelines.universal": "10.0.0-preview.26",
     "com.unity.robotics.ros-tcp-connector": "file:../../com.unity.robotics.ros-tcp-connector",
-    "com.unity.test-framework": "1.1.18",
+    "com.unity.test-framework": "1.1.20",
+    "com.unity.testtools.codecoverage": "1.0.0",
     "com.unity.textmeshpro": "3.0.1",
     "com.unity.timeline": "1.4.3",
     "com.unity.ugui": "1.0.0",