diff --git a/ros_buildfarm/ci_job.py b/ros_buildfarm/ci_job.py
index bbbe5290b..ecd94c6b8 100644
--- a/ros_buildfarm/ci_job.py
+++ b/ros_buildfarm/ci_job.py
@@ -23,6 +23,7 @@
 from ros_buildfarm.common import get_node_label
 from ros_buildfarm.common \
     import get_repositories_and_script_generating_key_files
+from ros_buildfarm.common import get_xunit_publisher_types_and_patterns
 from ros_buildfarm.common import JobValidationError
 from ros_buildfarm.common import write_groovy_script_and_configs
 from ros_buildfarm.config import get_ci_build_files
@@ -293,6 +294,9 @@ def _get_ci_job_config(
 
         'show_images': build_file.show_images,
         'show_plots': build_file.show_plots,
+
+        'xunit_publisher_types': get_xunit_publisher_types_and_patterns(
+            ros_version),
     }
     job_config = expand_template(template_name, job_data)
     return job_config
diff --git a/ros_buildfarm/common.py b/ros_buildfarm/common.py
index df3259c66..efbb41cdd 100644
--- a/ros_buildfarm/common.py
+++ b/ros_buildfarm/common.py
@@ -589,3 +589,16 @@ def get_package_repo_data(repository_baseurl, targets, cache_dir):
             repository_baseurl, target, cache_dir)
         data[target] = index
     return data
+
+
+def get_xunit_publisher_types_and_patterns(ros_version):
+    types = []
+    if ros_version == 1:
+        types.append(('GoogleTestType', 'ws/test_results/**/*.xml'))
+    elif ros_version == 2:
+        types.append(('GoogleTestType', 'ws/test_results/**/*.gtest.xml'))
+        types.append(('JUnitType', 'ws/test_results/**/pytest.xml'))
+        types.append(('JUnitType', 'ws/test_results/**/*.xunit.xml'))
+    else:
+        assert False, 'Unsupported ROS version: ' + str(ros_version)
+    return types
diff --git a/ros_buildfarm/devel_job.py b/ros_buildfarm/devel_job.py
index a97c4b386..1618aaae1 100644
--- a/ros_buildfarm/devel_job.py
+++ b/ros_buildfarm/devel_job.py
@@ -25,6 +25,7 @@
 from ros_buildfarm.common import get_node_label
 from ros_buildfarm.common \
     import get_repositories_and_script_generating_key_files
+from ros_buildfarm.common import get_xunit_publisher_types_and_patterns
 from ros_buildfarm.common import git_github_orgunit
 from ros_buildfarm.common import JobValidationError
 from ros_buildfarm.common import write_groovy_script_and_configs
@@ -434,6 +435,9 @@ def _get_devel_job_config(
 
         'timeout_minutes': build_file.jenkins_job_timeout,
 
+        'xunit_publisher_types': get_xunit_publisher_types_and_patterns(
+            ros_version),
+
         'git_ssh_credential_id': config.git_ssh_credential_id,
 
         'collate_test_stats': build_file.collate_test_stats,
diff --git a/ros_buildfarm/templates/ci/ci_job.xml.em b/ros_buildfarm/templates/ci/ci_job.xml.em
index e874118b1..f6a9e1f8c 100644
--- a/ros_buildfarm/templates/ci/ci_job.xml.em
+++ b/ros_buildfarm/templates/ci/ci_job.xml.em
@@ -436,10 +436,12 @@ parameters = [
     plots=show_plots,
 ))@
 @[end if]@
+@[if xunit_publisher_types]@
 @(SNIPPET(
     'publisher_xunit',
-    pattern='ws/test_results/**/*.xml',
+    types=xunit_publisher_types,
 ))@
+@[end if]@
   </publishers>
   <buildWrappers>
 @[if timeout_minutes is not None]@
diff --git a/ros_buildfarm/templates/devel/devel_job.xml.em b/ros_buildfarm/templates/devel/devel_job.xml.em
index fea6a222c..07e1f94c5 100644
--- a/ros_buildfarm/templates/devel/devel_job.xml.em
+++ b/ros_buildfarm/templates/devel/devel_job.xml.em
@@ -264,10 +264,12 @@ if pull_request:
     'publisher_warnings',
     unstable_threshold=0 if notify_compiler_warnings else '',
 ))@
+@[if xunit_publisher_types]@
 @(SNIPPET(
     'publisher_xunit',
-    pattern='ws/test_results/**/*.xml',
+    types=xunit_publisher_types,
 ))@
+@[end if]@
 @[if (not pull_request) and collate_test_stats]@
 @(SNIPPET(
     'publisher_groovy-postbuild',
diff --git a/ros_buildfarm/templates/snippet/publisher_xunit.xml.em b/ros_buildfarm/templates/snippet/publisher_xunit.xml.em
index 08b6856a5..41e2d9363 100644
--- a/ros_buildfarm/templates/snippet/publisher_xunit.xml.em
+++ b/ros_buildfarm/templates/snippet/publisher_xunit.xml.em
@@ -1,12 +1,24 @@
+@{
+# for backward compatibility only
+if 'types' not in vars() and 'pattern' in vars():
+    types = [('GoogleTestType', pattern)]
+}@
     <xunit plugin="xunit@@2.3.1">
       <types>
-        <GoogleTestType>
+@[for type_tag_and_pattern in types]@
+@{
+# expanding these within the for statement leads to a TypeError in empy version 3.3.4 and older
+type_tag, pattern = type_tag_and_pattern
+assert type_tag in ('GoogleTestType', 'JUnitType'), 'Unsupported test type tag: ' + type_tag
+}@
+        <@(type_tag)>
           <pattern>@ESCAPE(pattern)</pattern>
           <skipNoTestFiles>true</skipNoTestFiles>
           <failIfNotNew>true</failIfNotNew>
           <deleteOutputFiles>true</deleteOutputFiles>
           <stopProcessingIfError>true</stopProcessingIfError>
-        </GoogleTestType>
+        </@(type_tag)>
+@[end for]@
       </types>
       <thresholds>
         <org.jenkinsci.plugins.xunit.threshold.FailedThreshold>