diff --git a/ros_buildfarm/ci_job.py b/ros_buildfarm/ci_job.py
index d9cee87be..9f5cb1aec 100644
--- a/ros_buildfarm/ci_job.py
+++ b/ros_buildfarm/ci_job.py
@@ -303,7 +303,8 @@ def _get_ci_job_config(
 
         # only Ubuntu Focal has a new enough pytest version which generates
         # JUnit compliant result files
-        'xunit_publisher_types': get_xunit_publisher_types_and_patterns(),
+        'xunit_publisher_types': get_xunit_publisher_types_and_patterns(
+            ros_version, os_name == 'ubuntu' and os_code_name != 'bionic'),
     }
     job_config = expand_template(template_name, job_data)
     return job_config
diff --git a/ros_buildfarm/common.py b/ros_buildfarm/common.py
index fb875f6bc..eb914bfc6 100644
--- a/ros_buildfarm/common.py
+++ b/ros_buildfarm/common.py
@@ -600,9 +600,21 @@ def get_packages_in_workspaces(workspace_roots, condition_context=None):
     return pkgs
 
 
-def get_xunit_publisher_types_and_patterns():
+def get_xunit_publisher_types_and_patterns(
+    ros_version, pytest_junit_compliant
+):
     types = []
-    types.append(('GoogleTestType', 'ws/test_results/**/*.xml'))
+    if ros_version == 1:
+        types.append(('GoogleTestType', 'ws/test_results/**/*.xml'))
+    elif ros_version == 2:
+        types.append(('CTestType', 'ws/test_results/*/Testing/*/Test.xml'))
+        types.append(('GoogleTestType', 'ws/test_results/**/*.gtest.xml'))
+        types.append((
+            'JUnitType' if pytest_junit_compliant else 'GoogleTestType',
+            '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 4597401b6..88455ab93 100644
--- a/ros_buildfarm/devel_job.py
+++ b/ros_buildfarm/devel_job.py
@@ -439,7 +439,8 @@ def _get_devel_job_config(
 
         # only Ubuntu Focal has a new enough pytest version which generates
         # JUnit compliant result files
-        'xunit_publisher_types': get_xunit_publisher_types_and_patterns(),
+        'xunit_publisher_types': get_xunit_publisher_types_and_patterns(
+            ros_version, os_name == 'ubuntu' and os_code_name != 'bionic'),
 
         'git_ssh_credential_id': config.git_ssh_credential_id,
 
diff --git a/ros_buildfarm/templates/snippet/publisher_xunit.xml.em b/ros_buildfarm/templates/snippet/publisher_xunit.xml.em
index 2a7d869f0..99418e7ba 100644
--- a/ros_buildfarm/templates/snippet/publisher_xunit.xml.em
+++ b/ros_buildfarm/templates/snippet/publisher_xunit.xml.em
@@ -9,7 +9,7 @@ if 'types' not in vars() and 'pattern' in vars():
 @{
 # 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
+assert type_tag in ('CTestType', 'GoogleTestType', 'JUnitType'), 'Unsupported test type tag: ' + type_tag
 }@
         <@(type_tag)>
           <pattern>@ESCAPE(pattern)</pattern>