diff --git a/CMakeLists.txt b/CMakeLists.txt
index f35a182..92b25eb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -31,7 +31,7 @@ option(TCP_PUBSUB_USE_BUILTIN_RECYCLE
 
 option(TCP_PUBSUB_BUILD_TESTS
        "Build the tcp_pubsub tests. Requires Gtest::GTest to be findable by CMake."
-       ON)
+       OFF)
 
 cmake_dependent_option(TCP_PUBSUB_USE_BUILTIN_GTEST
        "Use the builtin GoogleTest submodule. Only needed if TCP_PUBSUB_BUILD_TESTS is ON. If set to OFF, GoogleTest must be available from somewhere else (e.g. system libs)."
diff --git a/tests/tcp_pubsub_test/CMakeLists.txt b/tests/tcp_pubsub_test/CMakeLists.txt
new file mode 100644
index 0000000..cf37286
--- /dev/null
+++ b/tests/tcp_pubsub_test/CMakeLists.txt
@@ -0,0 +1,33 @@
+################################################################################
+# Copyright (c) Continental. All rights reserved.
+# Licensed under the MIT license. See LICENSE file in the project root for details.
+# 
+# SPDX-License-Identifier: MIT
+################################################################################
+
+cmake_minimum_required(VERSION 3.13)
+
+project(tcp_pubsub_test)
+
+set(CMAKE_FIND_PACKAGE_PREFER_CONFIG  TRUE)
+
+find_package(tcp_pubsub REQUIRED)
+find_package(GTest      REQUIRED)
+
+set(sources
+    src/atomic_signalable.h
+    src/tcp_pubsub_test.cpp
+)
+
+add_executable (${PROJECT_NAME}
+    ${sources}
+)
+
+target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_14)
+
+source_group(TREE ${CMAKE_CURRENT_SOURCE_DIR} FILES ${sources})
+
+target_link_libraries (${PROJECT_NAME}
+    tcp_pubsub::tcp_pubsub
+    GTest::gtest_main
+)
\ No newline at end of file
diff --git a/tests/tcp_pubsub_test/src/atomic_signalable.h b/tests/tcp_pubsub_test/src/atomic_signalable.h
new file mode 100644
index 0000000..ab95f5e
--- /dev/null
+++ b/tests/tcp_pubsub_test/src/atomic_signalable.h
@@ -0,0 +1,194 @@
+// Copyright (c) Continental. All rights reserved.
+// Licensed under the MIT license. See LICENSE file in the project root for details.
+//
+// SPDX-License-Identifier: MIT
+
+#include <atomic>
+#include <chrono>
+#include <condition_variable>
+#include <mutex>
+
+template <typename T>
+class atomic_signalable
+{
+public:
+  atomic_signalable(T initial_value) : value(initial_value) {}
+
+  atomic_signalable<T>& operator=(const T new_value)
+  {
+    const std::lock_guard<std::mutex> lock(mutex);
+    value = new_value;
+    cv.notify_all();
+    return *this;
+  }
+
+  T operator++()
+  {
+    const std::lock_guard<std::mutex> lock(mutex);
+    T newValue = ++value;
+    cv.notify_all();
+    return newValue;
+  }
+
+  T operator++(T) 
+  {
+    const std::lock_guard<std::mutex> lock(mutex);
+    T oldValue = value++;
+    cv.notify_all();
+    return oldValue;
+  }
+
+  T operator--()
+  {
+    const std::lock_guard<std::mutex> lock(mutex);
+    T newValue = --value;
+    cv.notify_all();
+    return newValue;
+  }
+
+  T operator--(T) 
+  {
+    const std::lock_guard<std::mutex> lock(mutex);
+    T oldValue = value--;
+    cv.notify_all();
+    return oldValue;
+  }
+
+  T operator+=(const T& other) 
+  {
+    const std::lock_guard<std::mutex> lock(mutex);
+    value += other;
+    cv.notify_all();
+    return value;
+  }
+
+  T operator-=(const T& other) 
+  {
+    const std::lock_guard<std::mutex> lock(mutex);
+    value -= other;
+    cv.notify_all();
+    return value;
+  }
+
+  T operator*=(const T& other) 
+  {
+    const std::lock_guard<std::mutex> lock(mutex);
+    value *= other;
+    cv.notify_all();
+    return value;
+  }
+
+  T operator/=(const T& other) 
+  {
+    const std::lock_guard<std::mutex> lock(mutex);
+    value /= other;
+    cv.notify_all();
+    return value;
+  }
+
+  T operator%=(const T& other)
+  {
+    const std::lock_guard<std::mutex> lock(mutex);
+    value %= other;
+    cv.notify_all();
+    return value;
+  }
+
+  template <typename Predicate>
+  bool wait_for(Predicate predicate, std::chrono::milliseconds timeout)
+  {
+    std::unique_lock<std::mutex> lock(mutex);
+    return cv.wait_for(lock, timeout, [&]() { return predicate(value); });
+  }
+
+  T get() const
+  {
+    const std::lock_guard<std::mutex> lock(mutex);
+    return value;
+  }
+
+  bool operator==(T other) const
+  {
+    const std::lock_guard<std::mutex> lock(mutex);
+    return value == other;
+  }
+
+  bool operator==(const atomic_signalable<T>& other) const
+  {
+    std::lock_guard<std::mutex> lock_this(mutex);
+    std::lock_guard<std::mutex> lock_other(other.mutex);
+    return value == other.value;
+  }
+
+  bool operator!=(T other) const
+  {
+    const std::lock_guard<std::mutex> lock(mutex);
+    return value != other;
+  }
+
+  bool operator<(T other) const
+  {
+    const std::lock_guard<std::mutex> lock(mutex);
+    return value < other;
+  }
+
+  bool operator<=(T other) const
+  {
+    const std::lock_guard<std::mutex> lock(mutex);
+    return value <= other;
+  }
+
+  bool operator>(T other) const
+  {
+    const std::lock_guard<std::mutex> lock(mutex);
+    return value > other;
+  }
+
+  bool operator>=(T other) const
+  {
+    const std::lock_guard<std::mutex> lock(mutex);
+    return value >= other;
+  }
+
+private:
+  T value;
+  std::condition_variable cv;
+  mutable std::mutex mutex;
+};
+
+
+template <typename T>
+bool operator==(const T& other, const atomic_signalable<T>& atomic)
+{
+  return atomic == other;
+}
+
+template <typename T>
+bool operator!=(const T& other, const atomic_signalable<T>& atomic)
+{
+  return atomic != other;
+}
+
+template <typename T>
+bool operator<(const T& other, const atomic_signalable<T>& atomic)
+{
+  return atomic > other;
+}
+
+template <typename T>
+bool operator<=(const T& other, const atomic_signalable<T>& atomic)
+{
+  return atomic >= other;
+}
+
+template <typename T>
+bool operator>(const T& other, const atomic_signalable<T>& atomic)
+{
+  return atomic < other;
+}
+
+template <typename T>
+bool operator>=(const T& other, const atomic_signalable<T>& atomic)
+{
+  return atomic <= other;
+}
diff --git a/tests/tcp_pubsub_test/src/tcp_pubsub_test.cpp b/tests/tcp_pubsub_test/src/tcp_pubsub_test.cpp
new file mode 100644
index 0000000..dde65e0
--- /dev/null
+++ b/tests/tcp_pubsub_test/src/tcp_pubsub_test.cpp
@@ -0,0 +1,85 @@
+// Copyright (c) Continental. All rights reserved.
+// Licensed under the MIT license. See LICENSE file in the project root for details.
+//
+// SPDX-License-Identifier: MIT
+
+#include <chrono>
+#include <functional>
+#include <memory>
+
+#include <tcp_pubsub/executor.h>
+#include <tcp_pubsub/publisher.h>
+#include <tcp_pubsub/subscriber.h>
+
+#include "atomic_signalable.h"
+
+#include <gtest/gtest.h>
+
+TEST(tcp_pubsub, basic_test)
+{
+  atomic_signalable<int> num_messages_received(0);
+
+  // Create executor
+  std::shared_ptr<tcp_pubsub::Executor> executor = std::make_shared<tcp_pubsub::Executor>(1);
+
+  // Create publisher
+  tcp_pubsub::Publisher hello_world_publisher(executor, 1588);
+
+  // Create subscriber
+  tcp_pubsub::Subscriber hello_world_subscriber(executor);
+
+  // Subscribe to localhost on port 1588
+  hello_world_subscriber.addSession("127.0.0.1", 1588);
+
+  std::string received_message;
+
+  // Create a callback that will be called when a message is received
+  std::function<void(const tcp_pubsub::CallbackData& callback_data)> callback_function =
+            [&received_message, &num_messages_received](const tcp_pubsub::CallbackData& callback_data)
+            {
+              received_message = std::string(callback_data.buffer_->data(), callback_data.buffer_->size());
+              ++num_messages_received;
+            };
+
+  // Register the callback
+  hello_world_subscriber.setCallback(callback_function);
+
+  // Wait up to 1 second for the subscriber to connect
+  for (int i = 0; i < 10; ++i)
+  {
+    if (hello_world_subscriber.getSessions().at(0)->isConnected())
+    {
+      break;
+    }
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+  }
+
+  // Check that the subscriber is connected
+  EXPECT_TRUE(hello_world_subscriber.getSessions().at(0)->isConnected());
+  
+  // Publish "Hello World 1"
+  {
+    const std::string message = "Hello World 1";
+    hello_world_publisher.send(message.data(), message.size());
+  }
+
+  // wait for message to be received
+  num_messages_received.wait_for([](int value) { return value > 0; }, std::chrono::seconds(1));
+
+  // Check that the message was received
+  EXPECT_EQ(received_message, "Hello World 1");
+  EXPECT_EQ(num_messages_received.get(), 1);
+
+  // Publish "Hello World 2"
+  {
+    const std::string message = "Hello World 2";
+    hello_world_publisher.send(message.data(), message.size());
+  }
+
+  // wait for message to be received
+  num_messages_received.wait_for([](int value) { return value > 1; }, std::chrono::seconds(1));
+
+  // Check that the message was received
+  EXPECT_EQ(received_message, "Hello World 2");
+  EXPECT_EQ(num_messages_received.get(), 2);
+}