diff --git a/CMakeLists.txt b/CMakeLists.txt
index cad9231f7e..2b01b31798 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -40,7 +40,7 @@ endif()
 
 # This option is needed to use the PROTOBUF_GENERATE_CPP
 # in case protobuf is found with the CMake config files
-# It needs to be set before any find_package(...) call 
+# It needs to be set before any find_package(...) call
 # as protobuf could be find transitively by any dependency
 set(protobuf_MODULE_COMPATIBLE TRUE)
 
diff --git a/Changelog.md b/Changelog.md
index 33888d53d9..09a75047c7 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -443,7 +443,61 @@
 ### Ignition Gazebo 3.X.X (202X-XX-XX)
 
 
-### Ignition Gazebo 3.9.0 (2021-07-XX)
+### Ignition Gazebo 3.9.0 (2021-08-XX)
+
+1. Be more specific when looking for physics plugins
+    * [Pull request #965](https://github.com/ignitionrobotics/ign-gazebo/pull/965)
+
+1. Drag and drop meshes into scene
+    * [Pull request #939](https://github.com/ignitionrobotics/ign-gazebo/pull/939)
+
+1. Set protobuf_MODULE_COMPATIBLE before any find_package call
+    * [Pull request #957](https://github.com/ignitionrobotics/ign-gazebo/pull/957)
+
+1. [DiffDrive] add enable/disable
+    * [Pull request #772](https://github.com/ignitionrobotics/ign-gazebo/pull/772)
+
+1. Fix component inspector shutdown crash
+    * [Pull request #724](https://github.com/ignitionrobotics/ign-gazebo/pull/724)
+
+1. Add UserCommands Plugin.
+    * [Pull request #719](https://github.com/ignitionrobotics/ign-gazebo/pull/719)
+
+1. Setting the intiial velocity for a model or joint
+    * [Pull request #693](https://github.com/ignitionrobotics/ign-gazebo/pull/693)
+
+1. Examples and tutorial on using rendering API from plugins
+    * [Pull request #596](https://github.com/ignitionrobotics/ign-gazebo/pull/596)
+
+1.  Add missing IGNITION_GAZEBO_VISIBLE macros
+    * [Pull request #563](https://github.com/ignitionrobotics/ign-gazebo/pull/563)
+
+1. Fix visibility macro names when used by a different component (Windows)
+    * [Pull request #564](https://github.com/ignitionrobotics/ign-gazebo/pull/564)
+
+1. No install apt recommends and clear cache
+    * [Pull request #423](https://github.com/ignitionrobotics/ign-gazebo/pull/423)
+
+1. Add 25percent darker view angle icons
+    * [Pull request #426](https://github.com/ignitionrobotics/ign-gazebo/pull/426)
+
+1. Expose a test fixture helper class
+    * [Pull request #926](https://github.com/ignitionrobotics/ign-gazebo/pull/926)
+
+1. Fix logic to disable server default plugins loading
+    * [Pull request #953](https://github.com/ignitionrobotics/ign-gazebo/pull/953)
+
+1. removed unneeded plugin update
+    * [Pull request #944](https://github.com/ignitionrobotics/ign-gazebo/pull/944)
+
+1. Functions to enable velocity and acceleration checks on Link
+    * [Pull request #935](https://github.com/ignitionrobotics/ign-gazebo/pull/935)
+
+1. Support adding systems that don't come from a plugin
+    * [Pull request #936](https://github.com/ignitionrobotics/ign-gazebo/pull/936)
+
+1. 3D plot GUI plugin
+    * [Pull request #917](https://github.com/ignitionrobotics/ign-gazebo/pull/917)
 
 1. Add a convenience function for getting possibly non-existing components.
     * [Pull request #629](https://github.com/ignitionrobotics/ign-gazebo/pull/629)
diff --git a/src/ComponentFactory_TEST.cc b/src/ComponentFactory_TEST.cc
index 1f76270436..68957a503f 100644
--- a/src/ComponentFactory_TEST.cc
+++ b/src/ComponentFactory_TEST.cc
@@ -21,17 +21,14 @@
 #include "ignition/gazebo/components/Factory.hh"
 #include "ignition/gazebo/components/Pose.hh"
 
+#include "../test/helpers/EnvTestFixture.hh"
+
 using namespace ignition;
 using namespace gazebo;
 
 /////////////////////////////////////////////////
-class ComponentFactoryTest : public ::testing::Test
+class ComponentFactoryTest : public InternalFixture<::testing::Test>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    common::Console::SetVerbosity(4);
-  }
 };
 
 /////////////////////////////////////////////////
diff --git a/src/Component_TEST.cc b/src/Component_TEST.cc
index 98899d3e8a..ea3bdd40a4 100644
--- a/src/Component_TEST.cc
+++ b/src/Component_TEST.cc
@@ -29,16 +29,14 @@
 #include "ignition/gazebo/components/Name.hh"
 #include "ignition/gazebo/EntityComponentManager.hh"
 
+#include "../test/helpers/EnvTestFixture.hh"
+
 using namespace ignition;
 using namespace gazebo;
 
 //////////////////////////////////////////////////
-class ComponentTest : public ::testing::Test
+class ComponentTest : public InternalFixture<::testing::Test>
 {
-  protected: void SetUp() override
-  {
-    common::Console::SetVerbosity(4);
-  }
 };
 
 //////////////////////////////////////////////////
diff --git a/src/EntityComponentManager_TEST.cc b/src/EntityComponentManager_TEST.cc
index 2c91051386..b1e0dd79de 100644
--- a/src/EntityComponentManager_TEST.cc
+++ b/src/EntityComponentManager_TEST.cc
@@ -25,6 +25,7 @@
 #include "ignition/gazebo/components/Pose.hh"
 #include "ignition/gazebo/EntityComponentManager.hh"
 #include "ignition/gazebo/config.hh"
+#include "../test/helpers/EnvTestFixture.hh"
 
 using namespace ignition;
 using namespace gazebo;
@@ -97,12 +98,9 @@ class EntityCompMgrTest : public EntityComponentManager
   }
 };
 
-class EntityComponentManagerFixture : public ::testing::TestWithParam<int>
+class EntityComponentManagerFixture
+  : public InternalFixture<::testing::TestWithParam<int>>
 {
-  public: void SetUp() override
-  {
-    common::Console::SetVerbosity(4);
-  }
   public: EntityCompMgrTest manager;
 };
 
diff --git a/src/SdfEntityCreator_TEST.cc b/src/SdfEntityCreator_TEST.cc
index 0cad9949c4..9c07ba5282 100644
--- a/src/SdfEntityCreator_TEST.cc
+++ b/src/SdfEntityCreator_TEST.cc
@@ -51,6 +51,8 @@
 #include "ignition/gazebo/components/World.hh"
 #include "ignition/gazebo/SdfEntityCreator.hh"
 
+#include "../test/helpers/EnvTestFixture.hh"
+
 using namespace ignition;
 using namespace gazebo;
 
@@ -64,12 +66,8 @@ class EntityCompMgrTest : public gazebo::EntityComponentManager
 };
 
 /////////////////////////////////////////////////
-class SdfEntityCreatorTest : public ::testing::Test
+class SdfEntityCreatorTest : public InternalFixture<::testing::Test>
 {
-  public: void SetUp() override
-  {
-    ignition::common::Console::SetVerbosity(4);
-  }
   public: EntityCompMgrTest ecm;
   public: EventManager evm;
 };
diff --git a/src/SdfGenerator_TEST.cc b/src/SdfGenerator_TEST.cc
index 7e834a6158..c4bbe58a31 100644
--- a/src/SdfGenerator_TEST.cc
+++ b/src/SdfGenerator_TEST.cc
@@ -40,6 +40,7 @@
 #include "ignition/gazebo/test_config.hh"
 
 #include "helpers/UniqueTestDirectoryEnv.hh"
+#include "helpers/EnvTestFixture.hh"
 
 #include "SdfGenerator.hh"
 
@@ -147,11 +148,11 @@ TEST(CompareElements, CompareWithDuplicateElements)
 }
 
 /////////////////////////////////////////////////
-class ElementUpdateFixture : public ::testing::Test
+class ElementUpdateFixture : public InternalFixture<::testing::Test>
 {
   public: void SetUp() override
   {
-    ignition::common::Console::SetVerbosity(4);
+    InternalFixture::SetUp();
 
     fuel_tools::ClientConfig config;
     config.SetCacheLocation(test::UniqueTestDirectoryEnv::Path());
diff --git a/src/ServerConfig.cc b/src/ServerConfig.cc
index 486bddbaa0..f5884bb8f6 100644
--- a/src/ServerConfig.cc
+++ b/src/ServerConfig.cc
@@ -875,10 +875,13 @@ ignition::gazebo::loadPluginInfo(bool _isPlayback)
     configFilename = "server.config";
   }
 
-  std::string defaultConfig;
-  ignition::common::env(IGN_HOMEDIR, defaultConfig);
-  defaultConfig = ignition::common::joinPaths(defaultConfig, ".ignition",
-    "gazebo", configFilename);
+  std::string defaultConfigDir;
+  ignition::common::env(IGN_HOMEDIR, defaultConfigDir);
+  defaultConfigDir = ignition::common::joinPaths(defaultConfigDir, ".ignition",
+    "gazebo");
+
+  auto defaultConfig = ignition::common::joinPaths(defaultConfigDir,
+      configFilename);
 
   if (!ignition::common::exists(defaultConfig))
   {
@@ -886,6 +889,13 @@ ignition::gazebo::loadPluginInfo(bool _isPlayback)
         IGNITION_GAZEBO_SERVER_CONFIG_PATH,
         configFilename);
 
+    if (!ignition::common::createDirectories(defaultConfigDir))
+    {
+      ignerr << "Failed to create directory [" << defaultConfigDir
+             << "]." << std::endl;
+      return ret;
+    }
+
     if (!ignition::common::exists(installedConfig))
     {
       ignerr << "Failed to copy installed config [" << installedConfig
diff --git a/src/ServerPrivate.cc b/src/ServerPrivate.cc
index f49b6123e8..2498630072 100644
--- a/src/ServerPrivate.cc
+++ b/src/ServerPrivate.cc
@@ -234,12 +234,8 @@ void ServerPrivate::AddRecordPlugin(const ServerConfig &_config)
 
   if (sdfUseLogRecord)
   {
-    bool hasCompress {false};
-    bool sdfCompress;
     std::tie(sdfRecordResources, hasRecordResources) =
       recordPluginElem->Get<bool>("record_resources", false);
-    std::tie(sdfCompress, hasCompress) =
-      recordPluginElem->Get<bool>("compress", false);
 
     hasRecordTopics = recordPluginElem->HasElement("record_topic");
     if (hasRecordTopics)
diff --git a/src/Server_TEST.cc b/src/Server_TEST.cc
index de31ea43f0..ac8b00f482 100644
--- a/src/Server_TEST.cc
+++ b/src/Server_TEST.cc
@@ -44,6 +44,11 @@ using namespace ignition;
 using namespace ignition::gazebo;
 using namespace std::chrono_literals;
 
+/////////////////////////////////////////////////
+class ServerFixture : public InternalFixture<::testing::TestWithParam<int>>
+{
+};
+
 /////////////////////////////////////////////////
 TEST_P(ServerFixture, DefaultServerConfig)
 {
diff --git a/src/SimulationRunner_TEST.cc b/src/SimulationRunner_TEST.cc
index 0048f1e15b..49000a8471 100644
--- a/src/SimulationRunner_TEST.cc
+++ b/src/SimulationRunner_TEST.cc
@@ -54,6 +54,7 @@
 #include "ignition/gazebo/Events.hh"
 #include "ignition/gazebo/Util.hh"
 #include "ignition/gazebo/config.hh"
+#include "../test/helpers/EnvTestFixture.hh"
 #include "SimulationRunner.hh"
 
 using namespace ignition;
@@ -79,16 +80,10 @@ IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.DoubleComponent",
 }
 }
 
-class SimulationRunnerTest : public ::testing::TestWithParam<int>
+/////////////////////////////////////////////////
+class SimulationRunnerTest
+  : public InternalFixture<::testing::TestWithParam<int>>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    common::Console::SetVerbosity(4);
-
-    common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-      common::joinPaths(PROJECT_BINARY_PATH, "lib"));
-  }
 };
 
 std::vector<msgs::Clock> clockMsgs;
diff --git a/src/TestFixture_TEST.cc b/src/TestFixture_TEST.cc
index 244e5b1846..4c6d244f87 100644
--- a/src/TestFixture_TEST.cc
+++ b/src/TestFixture_TEST.cc
@@ -23,20 +23,15 @@
 #include "ignition/gazebo/components/Name.hh"
 #include "ignition/gazebo/ServerConfig.hh"
 #include "ignition/gazebo/test_config.hh"
+#include "../test/helpers/EnvTestFixture.hh"
 #include "ignition/gazebo/TestFixture.hh"
 
 using namespace ignition;
 using namespace gazebo;
 
 /////////////////////////////////////////////////
-class TestFixtureTest : public ::testing::Test
+class TestFixtureTest : public InternalFixture<::testing::Test>
 {
-  // Documentation inherited
-  public: void SetUp() override
-  {
-    common::Console::SetVerbosity(4);
-  }
-
   /// \brief Configure expectations
   public: void Configure(const Entity &_entity,
         const std::shared_ptr<const sdf::Element> &_sdf,
diff --git a/src/Util_TEST.cc b/src/Util_TEST.cc
index ee2d410d19..62417e000c 100644
--- a/src/Util_TEST.cc
+++ b/src/Util_TEST.cc
@@ -35,17 +35,14 @@
 #include "ignition/gazebo/EntityComponentManager.hh"
 #include "ignition/gazebo/Util.hh"
 
+#include "helpers/EnvTestFixture.hh"
+
 using namespace ignition;
 using namespace gazebo;
 
 /// \brief Tests for Util.hh
-class UtilTest : public ::testing::Test
+class UtilTest : public InternalFixture<::testing::Test>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    common::Console::SetVerbosity(4);
-  }
 };
 
 /////////////////////////////////////////////////
diff --git a/src/gui/Gui_TEST.cc b/src/gui/Gui_TEST.cc
index 7c61a211dc..96bd3c952b 100644
--- a/src/gui/Gui_TEST.cc
+++ b/src/gui/Gui_TEST.cc
@@ -28,15 +28,21 @@
 #include "ignition/gazebo/gui/Gui.hh"
 #include "ignition/gazebo/test_config.hh"
 
+#include "../../test/helpers/EnvTestFixture.hh"
+
 int gg_argc = 1;
 char **gg_argv = new char *[gg_argc];
 
 using namespace ignition;
 using namespace gazebo;
 
+class GuiTest : public InternalFixture<::testing::Test>
+{
+};
+
 /////////////////////////////////////////////////
 // https://github.com/ignitionrobotics/ign-gazebo/issues/8
-TEST(GuiTest, IGN_UTILS_TEST_DISABLED_ON_MAC(PathManager))
+TEST_F(GuiTest, IGN_UTILS_TEST_DISABLED_ON_MAC(PathManager))
 {
   common::Console::SetVerbosity(4);
   igndbg << "Start test" << std::endl;
diff --git a/src/gui/plugins/joint_position_controller/JointPositionController_TEST.cc b/src/gui/plugins/joint_position_controller/JointPositionController_TEST.cc
index 703fa7de84..72aa9b14cf 100644
--- a/src/gui/plugins/joint_position_controller/JointPositionController_TEST.cc
+++ b/src/gui/plugins/joint_position_controller/JointPositionController_TEST.cc
@@ -40,6 +40,7 @@
 #include "ignition/gazebo/gui/GuiRunner.hh"
 #include "ignition/gazebo/EntityComponentManager.hh"
 #include "ignition/gazebo/test_config.hh"
+#include "../../../../test/helpers/EnvTestFixture.hh"
 
 #include "JointPositionController.hh"
 
@@ -49,13 +50,8 @@ char **g_argv;
 using namespace ignition;
 
 /// \brief Tests for the joint position controller GUI plugin
-class JointPositionControllerGui : public ::testing::Test
+class JointPositionControllerGui : public InternalFixture<::testing::Test>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    common::Console::SetVerbosity(4);
-  }
 };
 
 /////////////////////////////////////////////////
diff --git a/src/gui/plugins/plot_3d/Plot3D_TEST.cc b/src/gui/plugins/plot_3d/Plot3D_TEST.cc
index f34e600409..6e085c3b34 100644
--- a/src/gui/plugins/plot_3d/Plot3D_TEST.cc
+++ b/src/gui/plugins/plot_3d/Plot3D_TEST.cc
@@ -39,6 +39,7 @@
 #include "ignition/gazebo/components/ParentEntity.hh"
 #include "ignition/gazebo/EntityComponentManager.hh"
 #include "ignition/gazebo/test_config.hh"
+#include "../../../../test/helpers/EnvTestFixture.hh"
 
 // Use this when forward-porting to v6
 // #include "../../GuiRunner.hh"
@@ -55,13 +56,8 @@ char* g_argv[] =
 using namespace ignition;
 
 /// \brief Tests for the joint position controller GUI plugin
-class Plot3D : public ::testing::Test
+class Plot3D : public InternalFixture<::testing::Test>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    common::Console::SetVerbosity(4);
-  }
 };
 
 /////////////////////////////////////////////////
diff --git a/src/systems/physics/EntityFeatureMap_TEST.cc b/src/systems/physics/EntityFeatureMap_TEST.cc
index 9b842031b5..79c5314a87 100644
--- a/src/systems/physics/EntityFeatureMap_TEST.cc
+++ b/src/systems/physics/EntityFeatureMap_TEST.cc
@@ -30,6 +30,7 @@
 #include <ignition/physics/config.hh>
 #include <ignition/plugin/Loader.hh>
 
+#include "../../../test/helpers/EnvTestFixture.hh"
 #include "ignition/gazebo/EntityComponentManager.hh"
 
 using namespace ignition;
@@ -46,10 +47,12 @@ using EnginePtrType =
     physics::EnginePtr<physics::FeaturePolicy3d, MinimumFeatureList>;
 
 
-class EntityFeatureMapFixture: public ::testing::Test
+class EntityFeatureMapFixture: public InternalFixture<::testing::Test>
 {
   protected: void SetUp() override
   {
+    InternalFixture::SetUp();
+
     const std::string pluginLib = "libignition-physics-dartsim-plugin.so";
 
     common::SystemPaths systemPaths;
diff --git a/test/helpers/EnvTestFixture.hh b/test/helpers/EnvTestFixture.hh
index e74f1a6ca1..e73636f6ac 100644
--- a/test/helpers/EnvTestFixture.hh
+++ b/test/helpers/EnvTestFixture.hh
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2020 Open Source Robotics Foundation
+ * Copyright (C) 2021 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -20,17 +20,42 @@
 #include <gtest/gtest.h>
 
 #include <ignition/common/Console.hh>
+#include <ignition/common/Filesystem.hh>
+#include <ignition/common/Util.hh>
 #include "ignition/gazebo/test_config.hh"
 
-class ServerFixture : public ::testing::TestWithParam<int>
+using namespace ignition;
+
+/// \brief Common test setup for various tests
+template <typename TestType>
+class InternalFixture : public TestType
 {
+  // Documentation inherited
   protected: void SetUp() override
   {
     // Augment the system plugin path.  In SetUp to avoid test order issues.
-    setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str(), 1);
+    common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
+           common::joinPaths(std::string(PROJECT_BINARY_PATH), "lib").c_str());
+
+    common::Console::SetVerbosity(4);
 
-    ignition::common::Console::SetVerbosity(4);
+    // Change environment variable so that test files aren't written to $HOME
+    common::env(IGN_HOMEDIR, this->realHome);
+    EXPECT_TRUE(common::setenv(IGN_HOMEDIR, this->kFakeHome.c_str()));
   }
+
+  // Documentation inherited
+  protected: void TearDown() override
+  {
+    // Restore $HOME
+    EXPECT_TRUE(common::setenv(IGN_HOMEDIR, this->realHome.c_str()));
+  }
+
+  /// \brief Directory to act as $HOME for tests
+  public: const std::string kFakeHome = common::joinPaths(PROJECT_BINARY_PATH,
+      "test", "fake_home");
+
+  /// \brief Store user's real $HOME to set it back at the end of tests.
+  public: std::string realHome;
 };
 #endif
diff --git a/test/integration/ackermann_steering_system.cc b/test/integration/ackermann_steering_system.cc
index a4279b242f..28a47cbf8e 100644
--- a/test/integration/ackermann_steering_system.cc
+++ b/test/integration/ackermann_steering_system.cc
@@ -27,6 +27,7 @@
 #include "ignition/gazebo/SystemLoader.hh"
 #include "ignition/gazebo/test_config.hh"
 
+#include "../helpers/EnvTestFixture.hh"
 #include "../helpers/Relay.hh"
 
 #define tol 10e-4
@@ -36,16 +37,9 @@ using namespace gazebo;
 using namespace std::chrono_literals;
 
 /// \brief Test AckermannSteering system
-class AckermannSteeringTest : public ::testing::TestWithParam<int>
+class AckermannSteeringTest
+  : public InternalFixture<::testing::TestWithParam<int>>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    common::Console::SetVerbosity(4);
-    setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str(), 1);
-  }
-
   /// \param[in] _sdfFile SDF file to load.
   /// \param[in] _cmdVelTopic Command velocity topic.
   /// \param[in] _odomTopic Odometry topic.
diff --git a/test/integration/air_pressure_system.cc b/test/integration/air_pressure_system.cc
index be8e2d95f3..51e9000d90 100644
--- a/test/integration/air_pressure_system.cc
+++ b/test/integration/air_pressure_system.cc
@@ -30,20 +30,14 @@
 #include "ignition/gazebo/test_config.hh"
 
 #include "../helpers/Relay.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 using namespace ignition;
 using namespace gazebo;
 
 /// \brief Test AirPressureTest system
-class AirPressureTest : public ::testing::Test
+class AirPressureTest : public InternalFixture<::testing::Test>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    ignition::common::Console::SetVerbosity(4);
-    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
-  }
 };
 
 /////////////////////////////////////////////////
diff --git a/test/integration/altimeter_system.cc b/test/integration/altimeter_system.cc
index 5958888127..4b391963ac 100644
--- a/test/integration/altimeter_system.cc
+++ b/test/integration/altimeter_system.cc
@@ -36,20 +36,14 @@
 #include "ignition/gazebo/test_config.hh"
 
 #include "../helpers/Relay.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 using namespace ignition;
 using namespace gazebo;
 
 /// \brief Test AltimeterTest system
-class AltimeterTest : public ::testing::Test
+class AltimeterTest : public InternalFixture<::testing::Test>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    ignition::common::Console::SetVerbosity(4);
-    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
-  }
 };
 
 std::mutex mutex;
diff --git a/test/integration/apply_joint_force_system.cc b/test/integration/apply_joint_force_system.cc
index cc309c3119..c8423e88ae 100644
--- a/test/integration/apply_joint_force_system.cc
+++ b/test/integration/apply_joint_force_system.cc
@@ -32,6 +32,7 @@
 #include "ignition/gazebo/test_config.hh"
 
 #include "../helpers/Relay.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 #define TOL 1e-4
 
@@ -39,15 +40,8 @@ using namespace ignition;
 using namespace gazebo;
 
 /// \brief Test fixture for ApplyJointForce system
-class ApplyJointForceTestFixture : public ::testing::Test
+class ApplyJointForceTestFixture : public InternalFixture<::testing::Test>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    ignition::common::Console::SetVerbosity(4);
-    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
-  }
 };
 
 /////////////////////////////////////////////////
diff --git a/test/integration/battery_plugin.cc b/test/integration/battery_plugin.cc
index bd894299df..53f09d2153 100644
--- a/test/integration/battery_plugin.cc
+++ b/test/integration/battery_plugin.cc
@@ -39,18 +39,17 @@
 #include "ignition/gazebo/components/Name.hh"
 
 #include "plugins/MockSystem.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 using namespace ignition;
 using namespace gazebo;
 
-class BatteryPluginTest : public ::testing::Test
+class BatteryPluginTest : public InternalFixture<::testing::Test>
 {
   // Documentation inherited
   protected: void SetUp() override
   {
-    common::Console::SetVerbosity(4);
-    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
+    InternalFixture::SetUp();
 
     auto plugin = sm.LoadPlugin("libMockSystem.so",
                                 "ignition::gazebo::MockSystem",
diff --git a/test/integration/breadcrumbs.cc b/test/integration/breadcrumbs.cc
index b458130b92..ed79d6eef6 100644
--- a/test/integration/breadcrumbs.cc
+++ b/test/integration/breadcrumbs.cc
@@ -40,19 +40,13 @@
 
 #include "helpers/Relay.hh"
 #include "helpers/UniqueTestDirectoryEnv.hh"
+#include "helpers/EnvTestFixture.hh"
 
 using namespace ignition;
 using namespace gazebo;
 
-class BreadcrumbsTest : public ::testing::Test
+class BreadcrumbsTest : public InternalFixture<::testing::Test>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    ignition::common::Console::SetVerbosity(4);
-    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
-  }
   public: void LoadWorld(const std::string &_path, bool _useLevels = false)
   {
     this->serverConfig.SetResourceCache(test::UniqueTestDirectoryEnv::Path());
diff --git a/test/integration/buoyancy.cc b/test/integration/buoyancy.cc
index 41c7d530ec..77445fdd61 100644
--- a/test/integration/buoyancy.cc
+++ b/test/integration/buoyancy.cc
@@ -32,19 +32,13 @@
 
 #include "ignition/gazebo/test_config.hh"
 #include "../helpers/Relay.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 using namespace ignition;
 using namespace gazebo;
 
-class BuoyancyTest : public ::testing::Test
+class BuoyancyTest : public InternalFixture<::testing::Test>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    ignition::common::Console::SetVerbosity(4);
-    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
-  }
 };
 
 /////////////////////////////////////////////////
diff --git a/test/integration/camera_video_record_system.cc b/test/integration/camera_video_record_system.cc
index 07968ccfea..e21b71fc98 100644
--- a/test/integration/camera_video_record_system.cc
+++ b/test/integration/camera_video_record_system.cc
@@ -26,20 +26,14 @@
 #include "ignition/gazebo/test_config.hh"
 
 #include "../helpers/Relay.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 using namespace ignition;
 using namespace gazebo;
 
 /// \brief Test CameraVideoRecorder system
-class CameraVideoRecorderTest : public ::testing::Test
+class CameraVideoRecorderTest : public InternalFixture<::testing::Test>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    common::Console::SetVerbosity(4);
-    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
-  }
 };
 
 /////////////////////////////////////////////////
diff --git a/test/integration/collada_world_exporter.cc b/test/integration/collada_world_exporter.cc
index ffd4a1d7be..f601f99232 100644
--- a/test/integration/collada_world_exporter.cc
+++ b/test/integration/collada_world_exporter.cc
@@ -24,18 +24,14 @@
 #include "ignition/gazebo/test_config.hh"
 
 #include "helpers/UniqueTestDirectoryEnv.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 using namespace ignition;
 using namespace gazebo;
 
 /////////////////////////////////////////////////
-class ColladaWorldExporterFixture : public ::testing::Test
+class ColladaWorldExporterFixture : public InternalFixture<::testing::Test>
 {
-  public: void SetUp() override
-  {
-    ignition::common::Console::SetVerbosity(4);
-  }
-
   public: void LoadWorld(const std::string &_path)
   {
     ServerConfig serverConfig;
diff --git a/test/integration/components.cc b/test/integration/components.cc
index 55e978a88f..fa8ea2eeb4 100644
--- a/test/integration/components.cc
+++ b/test/integration/components.cc
@@ -79,17 +79,13 @@
 #include "ignition/gazebo/components/Visual.hh"
 #include "ignition/gazebo/components/World.hh"
 #include "ignition/gazebo/test_config.hh"  // NOLINT(build/include)
-
+#include "../helpers/EnvTestFixture.hh"
 
 using namespace ignition;
 using namespace gazebo;
 
-class ComponentsTest : public ::testing::Test
+class ComponentsTest : public InternalFixture<::testing::Test>
 {
-  protected: void SetUp() override
-  {
-    common::Console::SetVerbosity(4);
-  }
 };
 
 /////////////////////////////////////////////////
diff --git a/test/integration/contact_system.cc b/test/integration/contact_system.cc
index 589c3ff3c0..0a9014673b 100644
--- a/test/integration/contact_system.cc
+++ b/test/integration/contact_system.cc
@@ -30,19 +30,13 @@
 #include "ignition/gazebo/test_config.hh"
 
 #include "plugins/MockSystem.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 using namespace ignition;
 using namespace gazebo;
 
-class ContactSystemTest : public ::testing::Test
+class ContactSystemTest : public InternalFixture<::testing::Test>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    ignition::common::Console::SetVerbosity(4);
-    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
-  }
 };
 
 /////////////////////////////////////////////////
diff --git a/test/integration/depth_camera.cc b/test/integration/depth_camera.cc
index 8e478e1a91..8e8c959b42 100644
--- a/test/integration/depth_camera.cc
+++ b/test/integration/depth_camera.cc
@@ -29,6 +29,7 @@
 #include "ignition/gazebo/test_config.hh"
 
 #include "plugins/MockSystem.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 #define DEPTH_TOL 1e-4
 
@@ -36,15 +37,8 @@ using namespace ignition;
 using namespace gazebo;
 
 /// \brief Test DepthCameraTest system
-class DepthCameraTest : public ::testing::Test
+class DepthCameraTest : public InternalFixture<::testing::Test>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    ignition::common::Console::SetVerbosity(4);
-    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
-  }
 };
 
 std::mutex mutex;
diff --git a/test/integration/detachable_joint.cc b/test/integration/detachable_joint.cc
index 53ed104f31..bbbe91c66f 100644
--- a/test/integration/detachable_joint.cc
+++ b/test/integration/detachable_joint.cc
@@ -35,21 +35,14 @@
 #include "ignition/gazebo/components/WindMode.hh"
 
 #include "../helpers/Relay.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 using namespace ignition;
 using namespace gazebo;
 
 /// \brief Test DetachableJoint system
-class DetachableJointTest : public ::testing::Test
+class DetachableJointTest : public InternalFixture<::testing::Test>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    common::Console::SetVerbosity(4);
-    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
-  }
-
   public: void StartServer(const std::string &_sdfFile)
   {
     ServerConfig serverConfig;
diff --git a/test/integration/diff_drive_system.cc b/test/integration/diff_drive_system.cc
index d1b444ff10..e3a0081fa5 100644
--- a/test/integration/diff_drive_system.cc
+++ b/test/integration/diff_drive_system.cc
@@ -29,6 +29,7 @@
 #include "ignition/gazebo/test_config.hh"
 
 #include "../helpers/Relay.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 #define tol 10e-4
 
@@ -37,16 +38,8 @@ using namespace gazebo;
 using namespace std::chrono_literals;
 
 /// \brief Test DiffDrive system
-class DiffDriveTest : public ::testing::TestWithParam<int>
+class DiffDriveTest : public InternalFixture<::testing::TestWithParam<int>>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    common::Console::SetVerbosity(4);
-    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
-  }
-
   /// \param[in] _sdfFile SDF file to load.
   /// \param[in] _cmdVelTopic Command velocity topic.
   /// \param[in] _odomTopic Odometry topic.
diff --git a/test/integration/each_new_removed.cc b/test/integration/each_new_removed.cc
index a7a88639bb..780e210250 100644
--- a/test/integration/each_new_removed.cc
+++ b/test/integration/each_new_removed.cc
@@ -30,6 +30,7 @@
 #include "ignition/gazebo/test_config.hh"  // NOLINT(build/include)
 
 #include "../helpers/Relay.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 using namespace ignition;
 using namespace std::chrono_literals;
@@ -38,14 +39,8 @@ using IntComponent = gazebo::components::Component<int, class IntComponentTag>;
 IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.IntComponent",
     IntComponent)
 
-class EachNewRemovedFixture : public ::testing::Test
+class EachNewRemovedFixture : public InternalFixture<::testing::Test>
 {
-  protected: void SetUp() override
-  {
-    // Augment the system plugin path.  In SetUp to avoid test order issues.
-    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-      (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
-  }
 };
 
 /////////////////////////////////////////////////
diff --git a/test/integration/entity_erase.cc b/test/integration/entity_erase.cc
index bb017612a4..f75da52514 100644
--- a/test/integration/entity_erase.cc
+++ b/test/integration/entity_erase.cc
@@ -19,19 +19,14 @@
 
 #include "ignition/gazebo/Server.hh"
 #include "ignition/gazebo/test_config.hh"  // NOLINT(build/include)
+#include "../helpers/EnvTestFixture.hh"
 
 using namespace ignition;
 using namespace gazebo;
 using namespace std::chrono_literals;
 
-class PhysicsSystemFixture : public ::testing::Test
+class PhysicsSystemFixture : public InternalFixture<::testing::Test>
 {
-  protected: void SetUp() override
-  {
-    // Augment the system plugin path.  In SetUp to avoid test order issues.
-    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-      (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
-  }
 };
 
 /////////////////////////////////////////////////
diff --git a/test/integration/events.cc b/test/integration/events.cc
index 34e95990df..b71fb4de52 100644
--- a/test/integration/events.cc
+++ b/test/integration/events.cc
@@ -24,18 +24,18 @@
 #include "ignition/gazebo/test_config.hh"  // NOLINT(build/include)
 
 #include "plugins/EventTriggerSystem.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 using namespace ignition;
 using namespace gazebo;
 
-/////////////////////////////////////////////////
-TEST(EventTrigger, TriggerPause)
+class EventTrigger : public InternalFixture<::testing::Test>
 {
-  common::Console::SetVerbosity(4);
-
-  ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-    (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
+};
 
+/////////////////////////////////////////////////
+TEST_F(EventTrigger, TriggerPause)
+{
   // Create server
   ServerConfig config;
   const auto sdfFile = std::string(PROJECT_SOURCE_PATH) +
diff --git a/test/integration/examples_build.cc b/test/integration/examples_build.cc
index d6c43d9750..bf40f70614 100644
--- a/test/integration/examples_build.cc
+++ b/test/integration/examples_build.cc
@@ -24,6 +24,7 @@
 #include <ignition/math/SemanticVersion.hh>
 
 #include "ignition/gazebo/test_config.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 // File copied from
 // https://github.com/ignitionrobotics/ign-gui/raw/ign-gui3/test/integration/ExamplesBuild_TEST.cc
@@ -122,7 +123,8 @@ bool createAndSwitchToTempDir(std::string &_newTempPath)
 #endif
 
 //////////////////////////////////////////////////
-class ExamplesBuild : public ::testing::TestWithParam<const char*>
+class ExamplesBuild
+  : public InternalFixture<::testing::TestWithParam<const char*>>
 {
   /// \brief Build code in a temporary build folder.
   /// \param[in] _type Type of example to build (plugins, standalone).
diff --git a/test/integration/follow_actor_system.cc b/test/integration/follow_actor_system.cc
index 566384f1bf..adddf0a076 100644
--- a/test/integration/follow_actor_system.cc
+++ b/test/integration/follow_actor_system.cc
@@ -28,6 +28,7 @@
 #include "ignition/gazebo/test_config.hh"
 
 #include "plugins/MockSystem.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 #define tol 10e-4
 
@@ -36,15 +37,8 @@ using namespace gazebo;
 using namespace std::chrono_literals;
 
 /// \brief Test FollowActor system
-class FollowActorTest : public ::testing::TestWithParam<int>
+class FollowActorTest : public InternalFixture<::testing::TestWithParam<int>>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    common::Console::SetVerbosity(4);
-    setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str(), 1);
-  }
 };
 
 class Relay
diff --git a/test/integration/fuel_cached_server.cc b/test/integration/fuel_cached_server.cc
index 7003459ff7..5be773871a 100644
--- a/test/integration/fuel_cached_server.cc
+++ b/test/integration/fuel_cached_server.cc
@@ -27,7 +27,12 @@ using namespace ignition::gazebo;
 using namespace std::chrono_literals;
 
 /////////////////////////////////////////////////
-TEST_P(ServerFixture, CachedFuelWorld)
+class FuelCachedServer : public InternalFixture<::testing::TestWithParam<int>>
+{
+};
+
+/////////////////////////////////////////////////
+TEST_P(FuelCachedServer, CachedFuelWorld)
 {
   auto cachedWorldPath =
     common::joinPaths(std::string(PROJECT_SOURCE_PATH), "test", "worlds");
@@ -54,4 +59,5 @@ TEST_P(ServerFixture, CachedFuelWorld)
 
 // Run multiple times. We want to make sure that static globals don't cause
 // problems.
-INSTANTIATE_TEST_SUITE_P(ServerRepeat, ServerFixture, ::testing::Range(1, 2));
+INSTANTIATE_TEST_SUITE_P(ServerRepeat, FuelCachedServer,
+    ::testing::Range(1, 2));
diff --git a/test/integration/gpu_lidar.cc b/test/integration/gpu_lidar.cc
index fa69df3b9d..a1f3368a43 100644
--- a/test/integration/gpu_lidar.cc
+++ b/test/integration/gpu_lidar.cc
@@ -28,6 +28,7 @@
 #include "ignition/gazebo/test_config.hh"
 
 #include "plugins/MockSystem.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 #define LASER_TOL 1e-4
 
@@ -35,15 +36,8 @@ using namespace ignition;
 using namespace gazebo;
 
 /// \brief Test GpuLidarTest system
-class GpuLidarTest : public ::testing::Test
+class GpuLidarTest : public InternalFixture<::testing::Test>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    ignition::common::Console::SetVerbosity(4);
-    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
-  }
 };
 
 std::mutex mutex;
diff --git a/test/integration/halt_motion.cc b/test/integration/halt_motion.cc
index ec3b6c0159..2564e1513b 100644
--- a/test/integration/halt_motion.cc
+++ b/test/integration/halt_motion.cc
@@ -29,6 +29,7 @@
 #include "ignition/gazebo/SystemLoader.hh"
 #include "ignition/gazebo/test_config.hh"
 
+#include "../helpers/EnvTestFixture.hh"
 #include "../helpers/Relay.hh"
 
 #define tol 10e-4
@@ -38,16 +39,8 @@ using namespace gazebo;
 using namespace std::chrono_literals;
 
 /// \brief Test DiffDrive system
-class HaltMotionTest : public ::testing::TestWithParam<int>
+class HaltMotionTest : public InternalFixture<::testing::TestWithParam<int>>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    common::Console::SetVerbosity(1);
-    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
-  }
-
   /// \param[in] _sdfFile SDF file to load.
   /// \param[in] _cmdVelTopic Command velocity topic.
   /// \param[in] _odomTopic Odometry topic.
diff --git a/test/integration/imu_system.cc b/test/integration/imu_system.cc
index f7ae7b65c2..68147f4e30 100644
--- a/test/integration/imu_system.cc
+++ b/test/integration/imu_system.cc
@@ -37,6 +37,7 @@
 #include "ignition/gazebo/test_config.hh"
 
 #include "../helpers/Relay.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 #define TOL 1e-4
 
@@ -44,15 +45,8 @@ using namespace ignition;
 using namespace gazebo;
 
 /// \brief Test ImuTest system
-class ImuTest : public ::testing::Test
+class ImuTest : public InternalFixture<::testing::Test>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    ignition::common::Console::SetVerbosity(4);
-    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
-  }
 };
 
 std::mutex mutex;
diff --git a/test/integration/joint_controller_system.cc b/test/integration/joint_controller_system.cc
index a773c404b2..eedb002305 100644
--- a/test/integration/joint_controller_system.cc
+++ b/test/integration/joint_controller_system.cc
@@ -32,6 +32,7 @@
 #include "ignition/gazebo/test_config.hh"
 
 #include "../helpers/Relay.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 #define TOL 1e-4
 
@@ -39,15 +40,8 @@ using namespace ignition;
 using namespace gazebo;
 
 /// \brief Test fixture for JointController system
-class JointControllerTestFixture : public ::testing::Test
+class JointControllerTestFixture : public InternalFixture<::testing::Test>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    ignition::common::Console::SetVerbosity(4);
-    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
-  }
 };
 
 /////////////////////////////////////////////////
diff --git a/test/integration/joint_position_controller_system.cc b/test/integration/joint_position_controller_system.cc
index 10a1a2dbb4..679293f582 100644
--- a/test/integration/joint_position_controller_system.cc
+++ b/test/integration/joint_position_controller_system.cc
@@ -32,6 +32,7 @@
 #include "ignition/gazebo/test_config.hh"
 
 #include "../helpers/Relay.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 #define TOL 1e-4
 
@@ -39,15 +40,9 @@ using namespace ignition;
 using namespace gazebo;
 
 /// \brief Test fixture for JointPositionController system
-class JointPositionControllerTestFixture : public ::testing::Test
+class JointPositionControllerTestFixture
+  : public InternalFixture<::testing::Test>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    ignition::common::Console::SetVerbosity(4);
-    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
-  }
 };
 
 /////////////////////////////////////////////////
diff --git a/test/integration/joint_state_publisher_system.cc b/test/integration/joint_state_publisher_system.cc
index 64f7f3b16c..d58e59c522 100644
--- a/test/integration/joint_state_publisher_system.cc
+++ b/test/integration/joint_state_publisher_system.cc
@@ -22,21 +22,16 @@
 
 #include "ignition/gazebo/Server.hh"
 #include "ignition/gazebo/test_config.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 using namespace ignition;
 using namespace gazebo;
 using namespace std::chrono_literals;
 
 /// \brief Test JointStatePublisher system
-class JointStatePublisherTest : public ::testing::TestWithParam<int>
+class JointStatePublisherTest
+  : public InternalFixture<::testing::TestWithParam<int>>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    common::Console::SetVerbosity(4);
-    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
-  }
 };
 
 /////////////////////////////////////////////////
diff --git a/test/integration/joint_trajectory_controller_system.cc b/test/integration/joint_trajectory_controller_system.cc
index 70ca0aad3f..b2c4bdeaa3 100644
--- a/test/integration/joint_trajectory_controller_system.cc
+++ b/test/integration/joint_trajectory_controller_system.cc
@@ -32,6 +32,7 @@
 #include "ignition/gazebo/SystemLoader.hh"
 #include "ignition/gazebo/test_config.hh"
 
+#include "../helpers/EnvTestFixture.hh"
 #include "../helpers/Relay.hh"
 
 #define TOL 1e-4
@@ -40,16 +41,9 @@ using namespace ignition;
 using namespace gazebo;
 
 /// \brief Test fixture for JointTrajectoryController system
-class JointTrajectoryControllerTestFixture : public ::testing::Test
+class JointTrajectoryControllerTestFixture
+  : public InternalFixture<::testing::Test>
 {
-  // Documentation inherited
-protected:
-  void SetUp() override
-  {
-    ignition::common::Console::SetVerbosity(4);
-    setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str(), 1);
-  }
 };
 
 /////////////////////////////////////////////////
diff --git a/test/integration/kinetic_energy_monitor_system.cc b/test/integration/kinetic_energy_monitor_system.cc
index bd5b1853ec..5a7fa43c5c 100644
--- a/test/integration/kinetic_energy_monitor_system.cc
+++ b/test/integration/kinetic_energy_monitor_system.cc
@@ -27,20 +27,14 @@
 #include "ignition/gazebo/Server.hh"
 #include "ignition/gazebo/SystemLoader.hh"
 #include "ignition/gazebo/test_config.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 using namespace ignition;
 using namespace gazebo;
 
 /// \brief Test Kinetic Energy Monitor system
-class KineticEnergyMonitorTest : public ::testing::Test
+class KineticEnergyMonitorTest : public InternalFixture<::testing::Test>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    ignition::common::Console::SetVerbosity(4);
-    setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str(), 1);
-  }
 };
 
 std::mutex mutex;
diff --git a/test/integration/level_manager.cc b/test/integration/level_manager.cc
index e61da0ed5a..f9c7e364d6 100644
--- a/test/integration/level_manager.cc
+++ b/test/integration/level_manager.cc
@@ -47,6 +47,7 @@
 #include "ignition/gazebo/components/Pose.hh"
 
 #include "../helpers/Relay.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 using namespace ignition;
 using namespace gazebo;
@@ -97,15 +98,12 @@ class ModelMover: public test::Relay
 };
 
 //////////////////////////////////////////////////
-class LevelManagerFixture : public ::testing::Test
+class LevelManagerFixture : public InternalFixture<::testing::Test>
 {
   // Documentation inherited
   protected: void SetUp() override
   {
-    common::Console::SetVerbosity(4);
-
-    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-      (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
+    InternalFixture::SetUp();
 
     ignition::gazebo::ServerConfig serverConfig;
 
diff --git a/test/integration/level_manager_runtime_performers.cc b/test/integration/level_manager_runtime_performers.cc
index b873719afc..cb1ffedeb6 100644
--- a/test/integration/level_manager_runtime_performers.cc
+++ b/test/integration/level_manager_runtime_performers.cc
@@ -44,6 +44,7 @@
 
 #include "plugins/MockSystem.hh"
 #include "../helpers/Relay.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 using namespace ignition;
 using namespace gazebo;
@@ -94,15 +95,12 @@ class ModelMover: public test::Relay
 };
 
 //////////////////////////////////////////////////
-class LevelManagerFixture : public ::testing::Test
+class LevelManagerFixture : public InternalFixture<::testing::Test>
 {
   // Documentation inherited
   protected: void SetUp() override
   {
-    common::Console::SetVerbosity(4);
-
-    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-      (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
+    InternalFixture::SetUp();
 
     ignition::gazebo::ServerConfig serverConfig;
 
diff --git a/test/integration/lift_drag_system.cc b/test/integration/lift_drag_system.cc
index 72ecf28d98..a03100f9cb 100644
--- a/test/integration/lift_drag_system.cc
+++ b/test/integration/lift_drag_system.cc
@@ -39,6 +39,7 @@
 #include "ignition/gazebo/test_config.hh"
 
 #include "../helpers/Relay.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 #define TOL 1e-4
 
@@ -46,15 +47,8 @@ using namespace ignition;
 using namespace gazebo;
 
 /// \brief Test fixture for LiftDrag system
-class LiftDragTestFixture : public ::testing::Test
+class LiftDragTestFixture : public InternalFixture<::testing::Test>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    ignition::common::Console::SetVerbosity(4);
-    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
-  }
 };
 
 /////////////////////////////////////////////////
diff --git a/test/integration/link.cc b/test/integration/link.cc
index 4b69e71c0c..72b361635b 100644
--- a/test/integration/link.cc
+++ b/test/integration/link.cc
@@ -38,15 +38,13 @@
 #include <ignition/gazebo/SdfEntityCreator.hh>
 #include <ignition/gazebo/Link.hh>
 
+#include "../helpers/EnvTestFixture.hh"
+
 using namespace ignition;
 using namespace gazebo;
 
-class LinkIntegrationTest : public ::testing::Test
+class LinkIntegrationTest : public InternalFixture<::testing::Test>
 {
-  public: void SetUp() override
-  {
-    ignition::common::Console::SetVerbosity(4);
-  }
 };
 
 //////////////////////////////////////////////////
diff --git a/test/integration/log_system.cc b/test/integration/log_system.cc
index c8b6c40882..d9785d90a1 100644
--- a/test/integration/log_system.cc
+++ b/test/integration/log_system.cc
@@ -51,6 +51,7 @@
 #include "ignition/gazebo/test_config.hh"
 
 #include "../helpers/Relay.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 using namespace ignition;
 using namespace gazebo;
@@ -147,16 +148,8 @@ void entryDiff(std::vector<std::string> &_paths1,
 #endif
 
 //////////////////////////////////////////////////
-class LogSystemTest : public ::testing::Test
+class LogSystemTest : public InternalFixture<::testing::Test>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    common::Console::SetVerbosity(4);
-    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
-  }
-
   // Create a temporary directory in build path for recorded data
   public: void CreateLogsDir()
   {
diff --git a/test/integration/logical_audio_sensor_plugin.cc b/test/integration/logical_audio_sensor_plugin.cc
index eac68bcb47..0d403402f0 100644
--- a/test/integration/logical_audio_sensor_plugin.cc
+++ b/test/integration/logical_audio_sensor_plugin.cc
@@ -39,20 +39,14 @@
 #include "ignition/gazebo/Types.hh"
 
 #include "../helpers/Relay.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 using namespace ignition;
 using namespace gazebo;
 
 /// \brief Test LogicalAudio system plugin
-class LogicalAudioTest : public ::testing::Test
+class LogicalAudioTest : public InternalFixture<::testing::Test>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    ignition::common::Console::SetVerbosity(4);
-    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
-  }
 };
 
 TEST_F(LogicalAudioTest, LogicalAudioDetections)
diff --git a/test/integration/logical_camera_system.cc b/test/integration/logical_camera_system.cc
index 6d68aaa995..09c96f3a46 100644
--- a/test/integration/logical_camera_system.cc
+++ b/test/integration/logical_camera_system.cc
@@ -33,20 +33,14 @@
 #include "ignition/gazebo/test_config.hh"
 
 #include "../helpers/Relay.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 using namespace ignition;
 using namespace gazebo;
 
 /// \brief Test LogicalCameraTest system
-class LogicalCameraTest : public ::testing::Test
+class LogicalCameraTest : public InternalFixture<::testing::Test>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    ignition::common::Console::SetVerbosity(4);
-    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
-  }
 };
 
 std::mutex mutex;
diff --git a/test/integration/magnetometer_system.cc b/test/integration/magnetometer_system.cc
index 85a702dd30..cf29f976f8 100644
--- a/test/integration/magnetometer_system.cc
+++ b/test/integration/magnetometer_system.cc
@@ -35,6 +35,7 @@
 #include "ignition/gazebo/test_config.hh"
 
 #include "../helpers/Relay.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 #define TOL 1e-4
 
@@ -42,15 +43,8 @@ using namespace ignition;
 using namespace gazebo;
 
 /// \brief Test MagnetometerTest system
-class MagnetometerTest : public ::testing::Test
+class MagnetometerTest : public InternalFixture<::testing::Test>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    ignition::common::Console::SetVerbosity(4);
-    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
-  }
 };
 
 std::mutex mutex;
diff --git a/test/integration/model.cc b/test/integration/model.cc
index 378db68d7d..4ffa3cf594 100644
--- a/test/integration/model.cc
+++ b/test/integration/model.cc
@@ -34,15 +34,13 @@
 #include <ignition/gazebo/components/Static.hh>
 #include <ignition/gazebo/components/WindMode.hh>
 
+#include "../helpers/EnvTestFixture.hh"
+
 using namespace ignition;
 using namespace gazebo;
 
-class ModelIntegrationTest : public ::testing::Test
+class ModelIntegrationTest : public InternalFixture<::testing::Test>
 {
-  public: void SetUp() override
-  {
-    ignition::common::Console::SetVerbosity(4);
-  }
 };
 
 //////////////////////////////////////////////////
diff --git a/test/integration/multicopter.cc b/test/integration/multicopter.cc
index 54ce5bb5fb..f88789a531 100644
--- a/test/integration/multicopter.cc
+++ b/test/integration/multicopter.cc
@@ -40,21 +40,14 @@
 #include "ignition/gazebo/test_config.hh"
 
 #include "../helpers/Relay.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 using namespace ignition;
 using namespace gazebo;
 using namespace std::chrono_literals;
 
-class MulticopterTest : public ::testing::Test
+class MulticopterTest : public InternalFixture<::testing::Test>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    ignition::common::Console::SetVerbosity(4);
-    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
-  }
-
   protected: std::unique_ptr<Server> StartServer(const std::string &_filePath)
   {
     ServerConfig serverConfig;
diff --git a/test/integration/multiple_servers.cc b/test/integration/multiple_servers.cc
index 71f89ab663..05516c790b 100644
--- a/test/integration/multiple_servers.cc
+++ b/test/integration/multiple_servers.cc
@@ -27,7 +27,12 @@ using namespace ignition::gazebo;
 using namespace std::chrono_literals;
 
 /////////////////////////////////////////////////
-TEST_P(ServerFixture, TwoServersNonBlocking)
+class MultipleServers : public InternalFixture<::testing::TestWithParam<int>>
+{
+};
+
+/////////////////////////////////////////////////
+TEST_P(MultipleServers, TwoServersNonBlocking)
 {
   ignition::gazebo::ServerConfig serverConfig;
   serverConfig.SetSdfString(TestWorldSansPhysics::World());
@@ -67,7 +72,7 @@ TEST_P(ServerFixture, TwoServersNonBlocking)
 }
 
 /////////////////////////////////////////////////
-TEST_P(ServerFixture, TwoServersMixedBlocking)
+TEST_P(MultipleServers, TwoServersMixedBlocking)
 {
   ignition::gazebo::ServerConfig serverConfig;
   serverConfig.SetSdfString(TestWorldSansPhysics::World());
@@ -101,4 +106,4 @@ TEST_P(ServerFixture, TwoServersMixedBlocking)
 
 // Run multiple times. We want to make sure that static globals don't cause
 // problems.
-INSTANTIATE_TEST_SUITE_P(ServerRepeat, ServerFixture, ::testing::Range(1, 2));
+INSTANTIATE_TEST_SUITE_P(ServerRepeat, MultipleServers, ::testing::Range(1, 2));
diff --git a/test/integration/network_handshake.cc b/test/integration/network_handshake.cc
index 830120e171..09b349e002 100644
--- a/test/integration/network_handshake.cc
+++ b/test/integration/network_handshake.cc
@@ -25,6 +25,8 @@
 #include "ignition/gazebo/Server.hh"
 #include "ignition/gazebo/test_config.hh"  // NOLINT(build/include)
 
+#include "../helpers/EnvTestFixture.hh"
+
 using namespace ignition;
 using namespace gazebo;
 using namespace std::chrono_literals;
@@ -59,13 +61,8 @@ uint64_t testPaused(bool _paused)
 }
 
 /////////////////////////////////////////////////
-class NetworkHandshake : public ::testing::Test
+class NetworkHandshake : public InternalFixture<::testing::Test>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    common::Console::SetVerbosity(4);
-  }
 };
 
 /////////////////////////////////////////////////
diff --git a/test/integration/odometry_publisher.cc b/test/integration/odometry_publisher.cc
index 1488dbd14e..0e329b54c3 100644
--- a/test/integration/odometry_publisher.cc
+++ b/test/integration/odometry_publisher.cc
@@ -32,6 +32,7 @@
 #include "ignition/gazebo/test_config.hh"
 
 #include "../helpers/Relay.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 #define tol 0.005
 
@@ -40,16 +41,9 @@ using namespace gazebo;
 using namespace std::chrono_literals;
 
 /// \brief Test OdometryPublisher system
-class OdometryPublisherTest : public ::testing::TestWithParam<int>
+class OdometryPublisherTest
+  : public InternalFixture<::testing::TestWithParam<int>>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    common::Console::SetVerbosity(4);
-    setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str(), 1);
-  }
-
   /// \param[in] _sdfFile SDF file to load.
   /// \param[in] _odomTopic Odometry topic.
   protected: void TestMovement(const std::string &_sdfFile,
diff --git a/test/integration/optical_tactile_plugin.cc b/test/integration/optical_tactile_plugin.cc
index 45ac53609c..bab4228a30 100644
--- a/test/integration/optical_tactile_plugin.cc
+++ b/test/integration/optical_tactile_plugin.cc
@@ -32,21 +32,14 @@
 #include "ignition/gazebo/test_config.hh"
 
 #include "plugins/MockSystem.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 using namespace ignition;
 using namespace gazebo;
 
 /// \brief Test OpticalTactilePlugin system
-class OpticalTactilePluginTest : public ::testing::Test
+class OpticalTactilePluginTest : public InternalFixture<::testing::Test>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    common::Console::SetVerbosity(4);
-    setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-      (std::string(PROJECT_BINARY_PATH) + "/lib").c_str(), 1);
-  }
-
   public: void StartServer(const std::string &_sdfFile)
   {
     ServerConfig serverConfig;
diff --git a/test/integration/particle_emitter.cc b/test/integration/particle_emitter.cc
index b5f4b091be..ff9826bb22 100644
--- a/test/integration/particle_emitter.cc
+++ b/test/integration/particle_emitter.cc
@@ -30,20 +30,14 @@
 #include "ignition/gazebo/components/Pose.hh"
 #include "ignition/gazebo/test_config.hh"
 
+#include "helpers/EnvTestFixture.hh"
 #include "helpers/Relay.hh"
 
 using namespace ignition;
 using namespace gazebo;
 
-class ParticleEmitterTest : public ::testing::Test
+class ParticleEmitterTest : public InternalFixture<::testing::Test>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    ignition::common::Console::SetVerbosity(4);
-    setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str(), 1);
-  }
   public: void LoadWorld(const std::string &_path, bool _useLevels = false)
   {
     this->serverConfig.SetSdfFile(
diff --git a/test/integration/particle_emitter2.cc b/test/integration/particle_emitter2.cc
index dace3704c0..826f51b2a2 100644
--- a/test/integration/particle_emitter2.cc
+++ b/test/integration/particle_emitter2.cc
@@ -30,20 +30,14 @@
 #include "ignition/gazebo/components/Pose.hh"
 #include "ignition/gazebo/test_config.hh"
 
+#include "helpers/EnvTestFixture.hh"
 #include "helpers/Relay.hh"
 
 using namespace ignition;
 using namespace gazebo;
 
-class ParticleEmitter2Test : public ::testing::Test
+class ParticleEmitter2Test : public InternalFixture<::testing::Test>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    ignition::common::Console::SetVerbosity(4);
-    setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str(), 1);
-  }
   public: void LoadWorld(const std::string &_path, bool _useLevels = false)
   {
     this->serverConfig.SetSdfFile(
diff --git a/test/integration/performer_detector.cc b/test/integration/performer_detector.cc
index 4007f96f26..e5501099ab 100644
--- a/test/integration/performer_detector.cc
+++ b/test/integration/performer_detector.cc
@@ -29,21 +29,14 @@
 #include "ignition/gazebo/test_config.hh"
 
 #include "helpers/Relay.hh"
+#include "helpers/EnvTestFixture.hh"
 
 using namespace ignition;
 using namespace gazebo;
 using namespace std::chrono_literals;
 
-class PerformerDetectorTest : public ::testing::Test
+class PerformerDetectorTest : public InternalFixture<::testing::Test>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    ignition::common::Console::SetVerbosity(4);
-    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
-  }
-
   protected: std::unique_ptr<Server> StartServer(const std::string &_filePath,
                                       bool _useLevels = false)
   {
diff --git a/test/integration/physics_system.cc b/test/integration/physics_system.cc
index 028f1c8c0a..6566f200cf 100644
--- a/test/integration/physics_system.cc
+++ b/test/integration/physics_system.cc
@@ -59,20 +59,14 @@
 #include "ignition/gazebo/components/World.hh"
 
 #include "../helpers/Relay.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 using namespace ignition;
 using namespace gazebo;
 using namespace std::chrono_literals;
 
-class PhysicsSystemFixture : public ::testing::Test
+class PhysicsSystemFixture : public InternalFixture<::testing::Test>
 {
-  protected: void SetUp() override
-  {
-    common::Console::SetVerbosity(4);
-    // Augment the system plugin path.  In SetUp to avoid test order issues.
-    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-      (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
-  }
 };
 
 /////////////////////////////////////////////////
diff --git a/test/integration/play_pause.cc b/test/integration/play_pause.cc
index f277977e4e..92a9e6d398 100644
--- a/test/integration/play_pause.cc
+++ b/test/integration/play_pause.cc
@@ -24,6 +24,8 @@
 #include "ignition/gazebo/Server.hh"
 #include "ignition/gazebo/test_config.hh"  // NOLINT(build/include)
 
+#include "../helpers/EnvTestFixture.hh"
+
 using namespace ignition;
 using namespace gazebo;
 using namespace std::chrono_literals;
@@ -93,8 +95,12 @@ uint64_t iterations()
   return iterations;
 }
 
+class PlayPause : public InternalFixture<::testing::Test>
+{
+};
+
 /////////////////////////////////////////////////
-TEST(PlayPause, PlayPause)
+TEST_F(PlayPause, PlayPause)
 {
   common::Console::SetVerbosity(4);
 
diff --git a/test/integration/pose_publisher_system.cc b/test/integration/pose_publisher_system.cc
index e4e85e814e..471605c171 100644
--- a/test/integration/pose_publisher_system.cc
+++ b/test/integration/pose_publisher_system.cc
@@ -33,6 +33,7 @@
 #include "ignition/gazebo/test_config.hh"
 
 #include "../helpers/Relay.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 #define tol 10e-4
 
@@ -40,15 +41,8 @@ using namespace ignition;
 using namespace gazebo;
 
 /// \brief Test PosePublisher system
-class PosePublisherTest : public ::testing::TestWithParam<int>
+class PosePublisherTest : public InternalFixture<::testing::TestWithParam<int>>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    common::Console::SetVerbosity(4);
-    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
-  }
 };
 
 std::mutex mutex;
diff --git a/test/integration/rgbd_camera.cc b/test/integration/rgbd_camera.cc
index e0dbe70fd8..713d9b2cb6 100644
--- a/test/integration/rgbd_camera.cc
+++ b/test/integration/rgbd_camera.cc
@@ -29,6 +29,7 @@
 #include "ignition/gazebo/test_config.hh"
 
 #include "plugins/MockSystem.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 #define DEPTH_TOL 1e-4
 
@@ -36,15 +37,8 @@ using namespace ignition;
 using namespace gazebo;
 
 /// \brief Test RgbdCameraTest system
-class RgbdCameraTest : public ::testing::Test
+class RgbdCameraTest : public InternalFixture<::testing::Test>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    ignition::common::Console::SetVerbosity(4);
-    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
-  }
 };
 
 std::mutex mutex;
diff --git a/test/integration/save_world.cc b/test/integration/save_world.cc
index 149ce5c3f3..4142ed253c 100644
--- a/test/integration/save_world.cc
+++ b/test/integration/save_world.cc
@@ -38,18 +38,14 @@
 
 #include "helpers/UniqueTestDirectoryEnv.hh"
 #include "plugins/MockSystem.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 using namespace ignition;
 using namespace gazebo;
 
 /////////////////////////////////////////////////
-class SdfGeneratorFixture : public ::testing::Test
+class SdfGeneratorFixture : public InternalFixture<::testing::Test>
 {
-  public: void SetUp() override
-  {
-    ignition::common::Console::SetVerbosity(4);
-  }
-
   public: void LoadWorld(const std::string &_path)
   {
     ServerConfig serverConfig;
diff --git a/test/integration/scene_broadcaster_system.cc b/test/integration/scene_broadcaster_system.cc
index 1e46f8b645..31bdcfc0b3 100644
--- a/test/integration/scene_broadcaster_system.cc
+++ b/test/integration/scene_broadcaster_system.cc
@@ -27,18 +27,14 @@
 #include "ignition/gazebo/Server.hh"
 #include "ignition/gazebo/test_config.hh"
 
+#include "../helpers/EnvTestFixture.hh"
+
 using namespace ignition;
 
 /// \brief Test SceneBroadcaster system
-class SceneBroadcasterTest : public ::testing::TestWithParam<int>
+class SceneBroadcasterTest
+  : public InternalFixture<::testing::TestWithParam<int>>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    common::Console::SetVerbosity(4);
-    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
-  }
 };
 
 /////////////////////////////////////////////////
diff --git a/test/integration/sdf_frame_semantics.cc b/test/integration/sdf_frame_semantics.cc
index 43a7501bef..9ca7890669 100644
--- a/test/integration/sdf_frame_semantics.cc
+++ b/test/integration/sdf_frame_semantics.cc
@@ -42,19 +42,13 @@
 #include "ignition/gazebo/components/World.hh"
 
 #include "../helpers/Relay.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 using namespace ignition;
 using namespace gazebo;
 
-class SdfFrameSemanticsTest : public ::testing::Test
+class SdfFrameSemanticsTest : public InternalFixture<::testing::Test>
 {
-  protected: void SetUp() override
-  {
-    common::Console::SetVerbosity(4);
-    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
-  }
-
   public: void StartServer()
   {
     this->relay = std::make_unique<test::Relay>();
diff --git a/test/integration/sdf_include.cc b/test/integration/sdf_include.cc
index 29f9c222d8..7a19d30b5f 100644
--- a/test/integration/sdf_include.cc
+++ b/test/integration/sdf_include.cc
@@ -22,11 +22,17 @@
 #include "ignition/gazebo/Server.hh"
 #include "ignition/gazebo/test_config.hh"  // NOLINT(build/include)
 
+#include "../helpers/EnvTestFixture.hh"
+
 using namespace ignition;
 using namespace gazebo;
 
+class SdfInclude : public InternalFixture<::testing::Test>
+{
+};
+
 /////////////////////////////////////////////////
-TEST(SdfInclude, DownloadFromFuel)
+TEST_F(SdfInclude, DownloadFromFuel)
 {
   std::string path = common::cwd() + "/test_cache";
 
diff --git a/test/integration/sensors_system.cc b/test/integration/sensors_system.cc
index a33aec55aa..661a92819e 100644
--- a/test/integration/sensors_system.cc
+++ b/test/integration/sensors_system.cc
@@ -40,20 +40,18 @@
 #include "ignition/gazebo/components/World.hh"
 
 #include "plugins/MockSystem.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 using namespace ignition;
 using namespace std::chrono_literals;
 namespace components = ignition::gazebo::components;
 
 //////////////////////////////////////////////////
-class SensorsFixture : public ::testing::Test
+class SensorsFixture : public InternalFixture<InternalFixture<::testing::Test>>
 {
   protected: void SetUp() override
   {
-    common::Console::SetVerbosity(4);
-    // Augment the system plugin path.  In SetUp to avoid test order issues.
-    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-      (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
+    InternalFixture::SetUp();
 
     auto plugin = sm.LoadPlugin("libMockSystem.so",
                                 "ignition::gazebo::MockSystem",
diff --git a/test/integration/thermal_sensor_system.cc b/test/integration/thermal_sensor_system.cc
index 4e799193a4..aa8fe4e516 100644
--- a/test/integration/thermal_sensor_system.cc
+++ b/test/integration/thermal_sensor_system.cc
@@ -34,21 +34,15 @@
 #include "ignition/gazebo/SystemLoader.hh"
 #include "ignition/gazebo/test_config.hh"
 
+#include "../helpers/EnvTestFixture.hh"
 #include "../helpers/Relay.hh"
 
 using namespace ignition;
 using namespace gazebo;
 
 /// \brief Test Thermal system
-class ThermalSensorTest : public ::testing::Test
+class ThermalSensorTest : public InternalFixture<::testing::Test>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    common::Console::SetVerbosity(4);
-    setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str(), 1);
-  }
 };
 
 
diff --git a/test/integration/thermal_system.cc b/test/integration/thermal_system.cc
index 849c409b31..68d1e566ec 100644
--- a/test/integration/thermal_system.cc
+++ b/test/integration/thermal_system.cc
@@ -38,20 +38,14 @@
 #include "ignition/gazebo/test_config.hh"
 
 #include "../helpers/Relay.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 using namespace ignition;
 using namespace gazebo;
 
 /// \brief Test Thermal system
-class ThermalTest : public ::testing::Test
+class ThermalTest : public InternalFixture<::testing::Test>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    common::Console::SetVerbosity(4);
-    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
-  }
 };
 
 /////////////////////////////////////////////////
diff --git a/test/integration/touch_plugin.cc b/test/integration/touch_plugin.cc
index 856b1e6be7..90b4080c06 100644
--- a/test/integration/touch_plugin.cc
+++ b/test/integration/touch_plugin.cc
@@ -23,20 +23,14 @@
 #include "ignition/gazebo/Server.hh"
 #include "ignition/gazebo/test_config.hh"
 
+#include "../helpers/EnvTestFixture.hh"
+
 using namespace ignition;
 using namespace gazebo;
 
 /// \brief Test TouchPlugin system
-class TouchPluginTest : public ::testing::Test
+class TouchPluginTest : public InternalFixture<::testing::Test>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    common::Console::SetVerbosity(4);
-    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
-  }
-
   public: void StartServer(const std::string &_sdfFile)
   {
     ServerConfig serverConfig;
diff --git a/test/integration/triggered_publisher.cc b/test/integration/triggered_publisher.cc
index d3bed25446..e8917738f6 100644
--- a/test/integration/triggered_publisher.cc
+++ b/test/integration/triggered_publisher.cc
@@ -36,19 +36,19 @@
 #include "ignition/gazebo/test_config.hh"
 
 #include "plugins/MockSystem.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 using namespace ignition;
 using namespace gazebo;
 using namespace std::chrono_literals;
 
-class TriggeredPublisherTest : public ::testing::Test
+class TriggeredPublisherTest : public InternalFixture<::testing::Test>
 {
   // Documentation inherited
   protected: void SetUp() override
   {
-    ignition::common::Console::SetVerbosity(4);
-    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
+    InternalFixture::SetUp();
+
     // Start server
     ServerConfig serverConfig;
     const auto sdfFile = std::string(PROJECT_SOURCE_PATH) +
diff --git a/test/integration/user_commands.cc b/test/integration/user_commands.cc
index e1e244cba6..127f443625 100644
--- a/test/integration/user_commands.cc
+++ b/test/integration/user_commands.cc
@@ -37,20 +37,14 @@
 #include "ignition/gazebo/test_config.hh"
 
 #include "../helpers/Relay.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 using namespace ignition;
 using namespace gazebo;
 
 //////////////////////////////////////////////////
-class UserCommandsTest : public ::testing::Test
+class UserCommandsTest : public InternalFixture<::testing::Test>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    ignition::common::Console::SetVerbosity(4);
-    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
-  }
 };
 
 /////////////////////////////////////////////////
diff --git a/test/integration/velocity_control_system.cc b/test/integration/velocity_control_system.cc
index 5eb7722440..392b2d6345 100644
--- a/test/integration/velocity_control_system.cc
+++ b/test/integration/velocity_control_system.cc
@@ -30,22 +30,16 @@
 #include "ignition/gazebo/test_config.hh"
 
 #include "../helpers/Relay.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 using namespace ignition;
 using namespace gazebo;
 using namespace std::chrono_literals;
 
 /// \brief Test VelocityControl system
-class VelocityControlTest : public ::testing::TestWithParam<int>
+class VelocityControlTest
+  : public InternalFixture<::testing::TestWithParam<int>>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    common::Console::SetVerbosity(4);
-    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
-  }
-
   /// \param[in] _sdfFile SDF file to load.
   /// \param[in] _cmdVelTopic Command velocity topic.
   protected: void TestPublishCmd(const std::string &_sdfFile,
diff --git a/test/integration/wheel_slip.cc b/test/integration/wheel_slip.cc
index ebc26042fa..6e931b02ea 100644
--- a/test/integration/wheel_slip.cc
+++ b/test/integration/wheel_slip.cc
@@ -49,20 +49,14 @@
 
 #include "plugins/MockSystem.hh"
 #include "../helpers/Relay.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 using namespace ignition;
 using namespace gazebo;
 
 /// \brief Test DiffDrive system
-class WheelSlipTest : public ::testing::Test
+class WheelSlipTest : public InternalFixture<::testing::Test>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-             {
-               common::Console::SetVerbosity(4);
-               ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-                   (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
-             }
   /// \brief Class to hold parameters for tire tests.
   public: class WheelSlipState
   {
diff --git a/test/integration/wind_effects.cc b/test/integration/wind_effects.cc
index f91d0ce1c3..1bbee6e6f0 100644
--- a/test/integration/wind_effects.cc
+++ b/test/integration/wind_effects.cc
@@ -34,21 +34,14 @@
 #include "ignition/gazebo/components/WindMode.hh"
 
 #include "plugins/MockSystem.hh"
+#include "../helpers/EnvTestFixture.hh"
 
 using namespace ignition;
 using namespace gazebo;
 
 /// \brief Test WindEffects system
-class WindEffectsTest : public ::testing::Test
+class WindEffectsTest : public InternalFixture<::testing::Test>
 {
-  // Documentation inherited
-  protected: void SetUp() override
-  {
-    common::Console::SetVerbosity(4);
-    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
-  }
-
   public: void StartServer(const std::string &_sdfFile)
   {
     ServerConfig serverConfig;
diff --git a/test/integration/world.cc b/test/integration/world.cc
index 84f76fcb01..9657d53eb7 100644
--- a/test/integration/world.cc
+++ b/test/integration/world.cc
@@ -40,15 +40,13 @@
 #include <ignition/gazebo/components/WindMode.hh>
 #include <ignition/gazebo/components/World.hh>
 
+#include "../helpers/EnvTestFixture.hh"
+
 using namespace ignition;
 using namespace gazebo;
 
-class WorldIntegrationTest : public ::testing::Test
+class WorldIntegrationTest : public InternalFixture<::testing::Test>
 {
-  public: void SetUp() override
-  {
-    ignition::common::Console::SetVerbosity(4);
-  }
 };
 
 //////////////////////////////////////////////////