diff --git a/aos/starter/starter_test.cc b/aos/starter/starter_test.cc
new file mode 100644
index 0000000..935c591
--- /dev/null
+++ b/aos/starter/starter_test.cc
@@ -0,0 +1,192 @@
+#include <signal.h>
+
+#include <future>
+#include <thread>
+
+#include "aos/events/ping_generated.h"
+#include "aos/events/pong_generated.h"
+#include "aos/testing/tmpdir.h"
+#include "gtest/gtest.h"
+#include "starter_rpc_lib.h"
+#include "starterd_lib.h"
+
+TEST(StarterdTest, StartStopTest) {
+  const std::string config_file = "aos/events/pingpong_config.json";
+
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig(config_file);
+
+  const std::string test_dir = aos::testing::TestTmpDir();
+
+  auto new_config = aos::configuration::MergeWithConfig(
+      &config.message(), absl::StrFormat(
+                             R"({"applications": [
+                                  {
+                                    "name": "ping",
+                                    "executable_name": "aos/events/ping",
+                                    "args": ["--shm_base", "%s/aos"]
+                                  },
+                                  {
+                                    "name": "pong",
+                                    "executable_name": "aos/events/pong",
+                                    "args": ["--shm_base", "%s/aos"]
+                                  }
+                                ]})",
+                             test_dir, test_dir));
+
+  const aos::Configuration *config_msg = &new_config.message();
+
+  // Set up starter with config file
+  aos::starter::Starter starter(config_msg);
+
+  // Create an event loop to watch for ping messages, verifying it actually
+  // started.
+  aos::ShmEventLoop watcher_loop(config_msg);
+  watcher_loop.SkipAosLog();
+
+  watcher_loop
+      .AddTimer([&watcher_loop] {
+        watcher_loop.Exit();
+        FAIL();
+      })
+      ->Setup(watcher_loop.monotonic_now() + std::chrono::seconds(7));
+
+  int test_stage = 0;
+  watcher_loop.MakeWatcher(
+      "/test", [&test_stage, config_msg](const aos::examples::Ping &) {
+        switch (test_stage) {
+          case 1: {
+            test_stage = 2;
+            break;
+          }
+          case 2: {
+            std::thread([config_msg] {
+              LOG(INFO) << "Send command";
+              ASSERT_TRUE(aos::starter::SendCommandBlocking(
+                  aos::starter::Command::STOP, "ping", config_msg,
+                  std::chrono::seconds(3)));
+            }).detach();
+            test_stage = 3;
+            break;
+          }
+        }
+      });
+
+  watcher_loop.MakeWatcher(
+      "/aos", [&test_stage, &watcher_loop](const aos::starter::Status &status) {
+        const aos::starter::ApplicationStatus *app_status =
+            FindApplicationStatus(status, "ping");
+        if (app_status == nullptr) {
+          return;
+        }
+
+        switch (test_stage) {
+          case 0: {
+            if (app_status->has_state() &&
+                app_status->state() == aos::starter::State::RUNNING) {
+              test_stage = 1;
+            }
+            break;
+          }
+
+          case 3: {
+            if (app_status->has_state() &&
+                app_status->state() == aos::starter::State::STOPPED) {
+              watcher_loop.Exit();
+              SUCCEED();
+            }
+            break;
+          }
+        }
+      });
+
+  std::thread starterd_thread([&starter] { starter.Run(); });
+  watcher_loop.Run();
+
+  starter.Cleanup();
+  starterd_thread.join();
+}
+
+TEST(StarterdTest, DeathTest) {
+  const std::string config_file = "aos/events/pingpong_config.json";
+
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig(config_file);
+
+  const std::string test_dir = aos::testing::TestTmpDir();
+
+  auto new_config = aos::configuration::MergeWithConfig(
+      &config.message(), absl::StrFormat(
+                             R"({"applications": [
+                                  {
+                                    "name": "ping",
+                                    "executable_name": "aos/events/ping",
+                                    "args": ["--shm_base", "%s/aos"]
+                                  },
+                                  {
+                                    "name": "pong",
+                                    "executable_name": "aos/events/pong",
+                                    "args": ["--shm_base", "%s/aos"]
+                                  }
+                                ]})",
+                             test_dir, test_dir));
+
+  const aos::Configuration *config_msg = &new_config.message();
+
+  // Set up starter with config file
+  aos::starter::Starter starter(config_msg);
+
+  // Create an event loop to watch for ping messages, verifying it actually
+  // started.
+  aos::ShmEventLoop watcher_loop(config_msg);
+  watcher_loop.SkipAosLog();
+
+  watcher_loop
+      .AddTimer([&watcher_loop] {
+        watcher_loop.Exit();
+        FAIL();
+      })
+      ->Setup(watcher_loop.monotonic_now() + std::chrono::seconds(7));
+
+  int test_stage = 0;
+  uint64_t id;
+
+  watcher_loop.MakeWatcher("/aos", [&test_stage, &watcher_loop,
+                                    &id](const aos::starter::Status &status) {
+    const aos::starter::ApplicationStatus *app_status =
+        FindApplicationStatus(status, "ping");
+    if (app_status == nullptr) {
+      return;
+    }
+
+    switch (test_stage) {
+      case 0: {
+        if (app_status->has_state() &&
+            app_status->state() == aos::starter::State::RUNNING) {
+          test_stage = 1;
+          ASSERT_TRUE(app_status->has_pid());
+          ASSERT_TRUE(kill(app_status->pid(), SIGINT) != -1);
+          ASSERT_TRUE(app_status->has_id());
+          id = app_status->id();
+        }
+        break;
+      }
+
+      case 1: {
+        if (app_status->has_state() &&
+            app_status->state() == aos::starter::State::RUNNING &&
+            app_status->has_id() && app_status->id() != id) {
+          watcher_loop.Exit();
+          SUCCEED();
+        }
+        break;
+      }
+    }
+  });
+
+  std::thread starterd_thread([&starter] { starter.Run(); });
+  watcher_loop.Run();
+
+  starter.Cleanup();
+  starterd_thread.join();
+}