diff --git a/autoware_utils/README.md b/autoware_utils/README.md
index d098b7b..c5582d6 100644
--- a/autoware_utils/README.md
+++ b/autoware_utils/README.md
@@ -3,11 +3,3 @@
 ## Overview
 
 The **autoware_utils** library is a comprehensive toolkit designed to facilitate the development of autonomous driving applications. This library provides essential utilities for geometry, mathematics, ROS (Robot Operating System) expansions, diagnostics, and more. It is extensively used in the Autoware project to handle common tasks such as geometric calculations, data normalization, message conversions, performance monitoring, and point cloud transformations.
-
-### Design
-
-#### ROS Module
-
-The ROS module provides utilities for working with ROS messages and nodes:
-
-- **`self_pose_listener.hpp`**: Listens to the self-pose of the vehicle.
diff --git a/autoware_utils/include/autoware_utils/ros/self_pose_listener.hpp b/autoware_utils/include/autoware_utils/ros/self_pose_listener.hpp
index 23f878c..97ef714 100644
--- a/autoware_utils/include/autoware_utils/ros/self_pose_listener.hpp
+++ b/autoware_utils/include/autoware_utils/ros/self_pose_listener.hpp
@@ -1,4 +1,4 @@
-// Copyright 2020 Tier IV, Inc.
+// Copyright 2025 The Autoware Contributors
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -15,44 +15,13 @@
 #ifndef AUTOWARE_UTILS__ROS__SELF_POSE_LISTENER_HPP_
 #define AUTOWARE_UTILS__ROS__SELF_POSE_LISTENER_HPP_
 
-#include "autoware_utils/geometry/geometry.hpp"
-#include "autoware_utils/ros/transform_listener.hpp"
+// NOLINTBEGIN(build/namespaces, whitespace/line_length)
+// clang-format off
 
-#include <rclcpp/rclcpp.hpp>
+#include <autoware_utils_tf/self_pose_listener.hpp>
+namespace autoware_utils { using namespace autoware_utils_tf; }
 
-#include <memory>
-
-namespace autoware_utils
-{
-class SelfPoseListener
-{
-public:
-  explicit SelfPoseListener(rclcpp::Node * node) : transform_listener_(node) {}
-
-  void wait_for_first_pose()
-  {
-    while (rclcpp::ok()) {
-      if (get_current_pose()) {
-        return;
-      }
-      RCLCPP_INFO(transform_listener_.get_logger(), "waiting for self pose...");
-      rclcpp::Rate(0.2).sleep();
-    }
-  }
-
-  geometry_msgs::msg::PoseStamped::ConstSharedPtr get_current_pose()
-  {
-    const auto tf = transform_listener_.get_latest_transform("map", "base_link");
-    if (!tf) {
-      return {};
-    }
-
-    return std::make_shared<const geometry_msgs::msg::PoseStamped>(transform2pose(*tf));
-  }
-
-private:
-  TransformListener transform_listener_;
-};
-}  // namespace autoware_utils
+// clang-format on
+// NOLINTEND
 
 #endif  // AUTOWARE_UTILS__ROS__SELF_POSE_LISTENER_HPP_
diff --git a/autoware_utils_tf/CMakeLists.txt b/autoware_utils_tf/CMakeLists.txt
index 88fc6b9..e5291cd 100644
--- a/autoware_utils_tf/CMakeLists.txt
+++ b/autoware_utils_tf/CMakeLists.txt
@@ -5,6 +5,13 @@ find_package(autoware_cmake REQUIRED)
 autoware_package()
 
 if(BUILD_TESTING)
+  file(GLOB_RECURSE test_files test/*.cpp)
+  ament_add_ros_isolated_gtest(test_${PROJECT_NAME} ${test_files})
+  ament_target_dependencies(test_${PROJECT_NAME}
+    ${${PROJECT_NAME}_FOUND_BUILD_DEPENDS}
+    ${${PROJECT_NAME}_FOUND_TEST_DEPENDS}
+  )
+  target_include_directories(test_${PROJECT_NAME} PRIVATE include)
 endif()
 
 ament_auto_package()
diff --git a/autoware_utils_tf/README.md b/autoware_utils_tf/README.md
index 1ecd511..89f110d 100644
--- a/autoware_utils_tf/README.md
+++ b/autoware_utils_tf/README.md
@@ -9,3 +9,4 @@ It is extensively used in the Autoware project to handle common tasks such as ma
 ## Design
 
 - **`transform_listener.hpp`**: Manages transformation listeners.
+- **`self_pose_listener.hpp`**: Listens to the self-pose of the vehicle.
diff --git a/autoware_utils_tf/include/autoware_utils_tf/self_pose_listener.hpp b/autoware_utils_tf/include/autoware_utils_tf/self_pose_listener.hpp
new file mode 100644
index 0000000..5cdb2fa
--- /dev/null
+++ b/autoware_utils_tf/include/autoware_utils_tf/self_pose_listener.hpp
@@ -0,0 +1,60 @@
+// Copyright 2020 Tier IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE_UTILS_TF__SELF_POSE_LISTENER_HPP_
+#define AUTOWARE_UTILS_TF__SELF_POSE_LISTENER_HPP_
+
+#include <autoware_utils_geometry/geometry.hpp>
+#include <autoware_utils_tf/transform_listener.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+#include <geometry_msgs/msg/pose_stamped.hpp>
+
+#include <memory>
+
+namespace autoware_utils_tf
+{
+class SelfPoseListener
+{
+public:
+  explicit SelfPoseListener(rclcpp::Node * node) : transform_listener_(node) {}
+
+  void wait_for_first_pose()
+  {
+    while (rclcpp::ok()) {
+      if (get_current_pose()) {
+        return;
+      }
+      RCLCPP_INFO(transform_listener_.get_logger(), "waiting for self pose...");
+      rclcpp::Rate(0.2).sleep();
+    }
+  }
+
+  geometry_msgs::msg::PoseStamped::ConstSharedPtr get_current_pose()
+  {
+    const auto tf = transform_listener_.get_latest_transform("map", "base_link");
+    if (!tf) {
+      return {};
+    }
+
+    return std::make_shared<const geometry_msgs::msg::PoseStamped>(
+      autoware_utils_geometry::transform2pose(*tf));
+  }
+
+private:
+  TransformListener transform_listener_;
+};
+}  // namespace autoware_utils_tf
+
+#endif  // AUTOWARE_UTILS_TF__SELF_POSE_LISTENER_HPP_
diff --git a/autoware_utils_tf/package.xml b/autoware_utils_tf/package.xml
index e190741..abddd61 100644
--- a/autoware_utils_tf/package.xml
+++ b/autoware_utils_tf/package.xml
@@ -14,10 +14,12 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_utils_geometry</depend>
   <depend>geometry_msgs</depend>
   <depend>rclcpp</depend>
   <depend>tf2_ros</depend>
 
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
 
diff --git a/autoware_utils_tf/test/cases/self_pose_listener.cpp b/autoware_utils_tf/test/cases/self_pose_listener.cpp
new file mode 100644
index 0000000..099f59f
--- /dev/null
+++ b/autoware_utils_tf/test/cases/self_pose_listener.cpp
@@ -0,0 +1,22 @@
+// Copyright 2025 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "autoware_utils_tf/self_pose_listener.hpp"
+
+#include <gtest/gtest.h>
+
+TEST(TestSelfPoseListener, Main)
+{
+  // TODO(Takagi, Isamu): Add test cases. Currently, we are only checking whether it can be built.
+}
diff --git a/autoware_utils_tf/test/cases/transform_listener.cpp b/autoware_utils_tf/test/cases/transform_listener.cpp
new file mode 100644
index 0000000..4c405e9
--- /dev/null
+++ b/autoware_utils_tf/test/cases/transform_listener.cpp
@@ -0,0 +1,22 @@
+// Copyright 2025 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "autoware_utils_tf/transform_listener.hpp"
+
+#include <gtest/gtest.h>
+
+TEST(TestTransformListener, Main)
+{
+  // TODO(Takagi, Isamu): Add test cases. Currently, we are only checking whether it can be built.
+}
diff --git a/autoware_utils_tf/test/main.cpp b/autoware_utils_tf/test/main.cpp
new file mode 100644
index 0000000..42f409f
--- /dev/null
+++ b/autoware_utils_tf/test/main.cpp
@@ -0,0 +1,36 @@
+// Copyright 2025 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <gtest/gtest.h>
+
+class RclcppEnvironment : public testing::Environment
+{
+public:
+  RclcppEnvironment(int argc, char ** argv) : argc(argc), argv(argv) {}
+  void SetUp() override { rclcpp::init(argc, argv); }
+  void TearDown() override { rclcpp::shutdown(); }
+
+private:
+  int argc;
+  char ** argv;
+};
+
+int main(int argc, char ** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  testing::AddGlobalTestEnvironment(new RclcppEnvironment(argc, argv));
+  return RUN_ALL_TESTS();
+}