diff --git a/test/integration/boundingbox_camera.cc b/test/integration/boundingbox_camera.cc
index eeb67215..7d3ea111 100644
--- a/test/integration/boundingbox_camera.cc
+++ b/test/integration/boundingbox_camera.cc
@@ -216,18 +216,16 @@ void BoundingBoxCameraSensorTest::BoxesWithBuiltinSDF(
   // Skip unsupported engines
   if (_renderEngine != "ogre2")
   {
-    gzdbg << "Engine '" << _renderEngine
+    GTEST_SKIP() << "Engine '" << _renderEngine
               << "' doesn't support bounding box cameras" << std::endl;
-    return;
   }
 
   // Setup gz-rendering with an empty scene
   auto *engine = rendering::engine(_renderEngine);
   if (!engine)
   {
-    gzdbg << "Engine '" << _renderEngine
+    GTEST_SKIP() << "Engine '" << _renderEngine
               << "' is not supported" << std::endl;
-    return;
   }
 
   rendering::ScenePtr scene = engine->CreateScene("scene");
@@ -385,18 +383,16 @@ void BoundingBoxCameraSensorTest::Boxes3DWithBuiltinSDF(
   // Skip unsupported engines
   if (_renderEngine != "ogre2")
   {
-    gzdbg << "Engine '" << _renderEngine
+    GTEST_SKIP() << "Engine '" << _renderEngine
               << "' doesn't support bounding box cameras" << std::endl;
-    return;
   }
 
   // Setup gz-rendering with an empty scene
   auto *engine = rendering::engine(_renderEngine);
   if (!engine)
   {
-    gzdbg << "Engine '" << _renderEngine
+    GTEST_SKIP() << "Engine '" << _renderEngine
               << "' is not supported" << std::endl;
-    return;
   }
 
   rendering::ScenePtr scene = engine->CreateScene("scene");
diff --git a/test/integration/camera.cc b/test/integration/camera.cc
index 776d9c3e..1dd5a7c6 100644
--- a/test/integration/camera.cc
+++ b/test/integration/camera.cc
@@ -116,9 +116,8 @@ void CameraSensorTest::ImagesWithBuiltinSDF(const std::string &_renderEngine)
   auto *engine = gz::rendering::engine(_renderEngine);
   if (!engine)
   {
-    gzdbg << "Engine '" << _renderEngine
+    GTEST_SKIP() << "Engine '" << _renderEngine
               << "' is not supported" << std::endl;
-    return;
   }
 
   gz::rendering::ScenePtr scene = engine->CreateScene("scene");
@@ -218,9 +217,8 @@ void CameraSensorTest::CameraIntrinsics(const std::string &_renderEngine)
   auto *engine = gz::rendering::engine(_renderEngine);
   if (!engine)
   {
-    gzdbg << "Engine '" << _renderEngine
+    GTEST_SKIP() << "Engine '" << _renderEngine
           << "' is not supported" << std::endl;
-    return;
   }
 
   gz::rendering::ScenePtr scene = engine->CreateScene("scene");
@@ -515,9 +513,8 @@ void CameraSensorTest::CameraProjection(const std::string &_renderEngine)
   auto *engine = gz::rendering::engine(_renderEngine);
   if (!engine)
   {
-    gzdbg << "Engine '" << _renderEngine
+    GTEST_SKIP() << "Engine '" << _renderEngine
           << "' is not supported" << std::endl;
-    return;
   }
 
   gz::rendering::ScenePtr scene = engine->CreateScene("scene");
@@ -807,9 +804,8 @@ void CameraSensorTest::ImageFormatLInt8LInt16(const std::string &_renderEngine)
   auto *engine = gz::rendering::engine(_renderEngine);
   if (!engine)
   {
-    gzdbg << "Engine '" << _renderEngine
+    GTEST_SKIP() << "Engine '" << _renderEngine
               << "' is not supported" << std::endl;
-    return;
   }
 
   gz::rendering::ScenePtr scene = engine->CreateScene("scene");
diff --git a/test/integration/depth_camera.cc b/test/integration/depth_camera.cc
index 8bbe5fd2..55ebf782 100644
--- a/test/integration/depth_camera.cc
+++ b/test/integration/depth_camera.cc
@@ -198,9 +198,8 @@ void DepthCameraSensorTest::ImagesWithBuiltinSDF(
   if ((_renderEngine.compare("ogre") != 0) &&
       (_renderEngine.compare("ogre2") != 0))
   {
-    gzdbg << "Engine '" << _renderEngine
+    GTEST_SKIP() << "Engine '" << _renderEngine
               << "' doesn't support depth cameras" << std::endl;
-    return;
   }
 
   // Setup gz-rendering with an empty scene
diff --git a/test/integration/distortion_camera.cc b/test/integration/distortion_camera.cc
index 7a65899f..9ffb7be1 100644
--- a/test/integration/distortion_camera.cc
+++ b/test/integration/distortion_camera.cc
@@ -81,18 +81,18 @@ void DistortionCameraSensorTest::ImagesWithBuiltinSDF(
 
   if (_renderEngine == "ogre2")
   {
-    gzdbg << "Distortion camera not supported yet in rendering engine: "
-            << _renderEngine << std::endl;
-    return;
+    GTEST_SKIP() << "Distortion camera not supported yet in rendering engine: "
+                 << _renderEngine
+                 << ", see https://github.com/gazebosim/gz-rendering/issues/697"
+                 << std::endl;
   }
 
   // Setup gz-rendering with an empty scene
   auto *engine = gz::rendering::engine(_renderEngine);
   if (!engine)
   {
-    gzdbg << "Engine '" << _renderEngine
+    GTEST_SKIP() << "Engine '" << _renderEngine
               << "' is not supported" << std::endl;
-    return;
   }
 
   gz::rendering::ScenePtr scene = engine->CreateScene("scene");
diff --git a/test/integration/dvl.cc b/test/integration/dvl.cc
index 24e40b19..52b61cdd 100644
--- a/test/integration/dvl.cc
+++ b/test/integration/dvl.cc
@@ -240,8 +240,11 @@ class DopplerVelocityLogTest : public testing::Test,
   // Documentation inherited
   protected: void TearDown() override
   {
-    engine->DestroyScene(scene);
-    rendering::unloadEngine(engine->Name());
+    if (engine)
+    {
+      engine->DestroyScene(scene);
+      rendering::unloadEngine(engine->Name());
+    }
   }
 
   rendering::RenderEngine *engine{nullptr};
diff --git a/test/integration/gpu_lidar_sensor.cc b/test/integration/gpu_lidar_sensor.cc
index d31bcd11..6b387dd3 100644
--- a/test/integration/gpu_lidar_sensor.cc
+++ b/test/integration/gpu_lidar_sensor.cc
@@ -209,9 +209,8 @@ void GpuLidarSensorTest::CreateGpuLidar(const std::string &_renderEngine)
   auto *engine = gz::rendering::engine(_renderEngine);
   if (!engine)
   {
-    gzdbg << "Engine '" << _renderEngine
+    GTEST_SKIP() << "Engine '" << _renderEngine
               << "' is not supported" << std::endl;
-    return;
   }
 
   gz::rendering::ScenePtr scene = engine->CreateScene("scene");
@@ -330,9 +329,8 @@ void GpuLidarSensorTest::DetectBox(const std::string &_renderEngine)
     gz::rendering::engine(_renderEngine);
   if (!engine)
   {
-    gzdbg << "Engine '" << _renderEngine
+    GTEST_SKIP() << "Engine '" << _renderEngine
               << "' is not supported" << std::endl;
-    return;
   }
 
   gz::rendering::ScenePtr scene = engine->CreateScene("scene");
@@ -502,9 +500,8 @@ void GpuLidarSensorTest::TestThreeBoxes(const std::string &_renderEngine)
     gz::rendering::engine(_renderEngine);
   if (!engine)
   {
-    gzdbg << "Engine '" << _renderEngine
+    GTEST_SKIP() << "Engine '" << _renderEngine
               << "' is not supported" << std::endl;
-    return;
   }
 
   gz::rendering::ScenePtr scene = engine->CreateScene("scene");
@@ -651,9 +648,8 @@ void GpuLidarSensorTest::VerticalLidar(const std::string &_renderEngine)
     gz::rendering::engine(_renderEngine);
   if (!engine)
   {
-    gzdbg << "Engine '" << _renderEngine
+    GTEST_SKIP() << "Engine '" << _renderEngine
               << "' is not supported" << std::endl;
-    return;
   }
 
   gz::rendering::ScenePtr scene = engine->CreateScene("scene");
@@ -787,9 +783,8 @@ void GpuLidarSensorTest::ManualUpdate(const std::string &_renderEngine)
     gz::rendering::engine(_renderEngine);
   if (!engine)
   {
-    gzdbg << "Engine '" << _renderEngine
+    GTEST_SKIP() << "Engine '" << _renderEngine
               << "' is not supported" << std::endl;
-    return;
   }
 
   gz::rendering::ScenePtr scene = engine->CreateScene("scene");
@@ -897,9 +892,8 @@ void GpuLidarSensorTest::Topic(const std::string &_renderEngine)
   auto engine = gz::rendering::engine(_renderEngine);
   if (!engine)
   {
-    gzdbg << "Engine '" << _renderEngine
+    GTEST_SKIP() << "Engine '" << _renderEngine
               << "' is not supported" << std::endl;
-    return;
   }
   auto scene = engine->CreateScene("scene");
   EXPECT_NE(nullptr, scene);
diff --git a/test/integration/rgbd_camera.cc b/test/integration/rgbd_camera.cc
index 1fc2ea10..ab533765 100644
--- a/test/integration/rgbd_camera.cc
+++ b/test/integration/rgbd_camera.cc
@@ -212,18 +212,16 @@ void RgbdCameraSensorTest::ImagesWithBuiltinSDF(
   if ((_renderEngine.compare("ogre") != 0) &&
       (_renderEngine.compare("ogre2") != 0))
   {
-    gzdbg << "Engine '" << _renderEngine
+    GTEST_SKIP() << "Engine '" << _renderEngine
               << "' doesn't support rgbd cameras" << std::endl;
-    return;
   }
 
   // Setup gz-rendering with an empty scene
   auto *engine = rendering::engine(_renderEngine);
   if (!engine)
   {
-    gzdbg << "Engine '" << _renderEngine
+    GTEST_SKIP() << "Engine '" << _renderEngine
               << "' is not supported" << std::endl;
-    return;
   }
 
   rendering::ScenePtr scene = engine->CreateScene("scene");
diff --git a/test/integration/segmentation_camera.cc b/test/integration/segmentation_camera.cc
index 73bc4595..6d193115 100644
--- a/test/integration/segmentation_camera.cc
+++ b/test/integration/segmentation_camera.cc
@@ -191,17 +191,15 @@ void SegmentationCameraSensorTest::ImagesWithBuiltinSDF(
   // If ogre2 is not the engine, don't run the test
   if (_renderEngine.compare("ogre2") != 0)
   {
-    gzdbg << "Engine '" << _renderEngine
+    GTEST_SKIP() << "Engine '" << _renderEngine
       << "' doesn't support segmentation cameras" << std::endl;
-    return;
   }
   // Setup gz-rendering with an empty scene
   auto *engine = gz::rendering::engine(_renderEngine);
   if (!engine)
   {
-    gzdbg << "Engine '" << _renderEngine
+    GTEST_SKIP() << "Engine '" << _renderEngine
               << "' is not supported" << std::endl;
-    return;
   }
 
   gz::rendering::ScenePtr scene = engine->CreateScene("scene");
diff --git a/test/integration/thermal_camera.cc b/test/integration/thermal_camera.cc
index 2ace91af..f1ba3646 100644
--- a/test/integration/thermal_camera.cc
+++ b/test/integration/thermal_camera.cc
@@ -151,18 +151,16 @@ void ThermalCameraSensorTest::ImagesWithBuiltinSDF(
   if ((_renderEngine.compare("ogre") != 0) &&
       (_renderEngine.compare("ogre2") != 0))
   {
-    gzdbg << "Engine '" << _renderEngine
+    GTEST_SKIP() << "Engine '" << _renderEngine
               << "' doesn't support thermal cameras" << std::endl;
-    return;
   }
 
   // Setup gz-rendering with an empty scene
   auto *engine = gz::rendering::engine(_renderEngine);
   if (!engine)
   {
-    gzdbg << "Engine '" << _renderEngine
+    GTEST_SKIP() << "Engine '" << _renderEngine
               << "' is not supported" << std::endl;
-    return;
   }
 
   gz::rendering::ScenePtr scene = engine->CreateScene("scene");
@@ -421,18 +419,16 @@ void ThermalCameraSensorTest::Images8BitWithBuiltinSDF(
   // If ogre2 is not the engine, don't run the test
   if ((_renderEngine.compare("ogre2") != 0))
   {
-    gzdbg << "Engine '" << _renderEngine
+    GTEST_SKIP() << "Engine '" << _renderEngine
               << "' doesn't support 8 bit thermal cameras" << std::endl;
-    return;
   }
 
   // Setup gz-rendering with an empty scene
   auto *engine = gz::rendering::engine(_renderEngine);
   if (!engine)
   {
-    gzdbg << "Engine '" << _renderEngine
+    GTEST_SKIP() << "Engine '" << _renderEngine
               << "' is not supported" << std::endl;
-    return;
   }
 
   gz::rendering::ScenePtr scene = engine->CreateScene("scene");
diff --git a/test/integration/triggered_boundingbox_camera.cc b/test/integration/triggered_boundingbox_camera.cc
index 42178a69..802c4bba 100644
--- a/test/integration/triggered_boundingbox_camera.cc
+++ b/test/integration/triggered_boundingbox_camera.cc
@@ -135,18 +135,16 @@ void TriggeredBoundingBoxCameraTest::BoxesWithBuiltinSDF(
     // Skip unsupported engines
   if (_renderEngine != "ogre2")
   {
-    gzdbg << "Engine '" << _renderEngine
+    GTEST_SKIP() << "Engine '" << _renderEngine
            << "' doesn't support bounding box cameras" << std::endl;
-    return;
   }
 
   // Setup gz-rendering with an empty scene
   auto *engine = gz::rendering::engine(_renderEngine);
   if (!engine)
   {
-    gzdbg << "Engine '" << _renderEngine
+    GTEST_SKIP() << "Engine '" << _renderEngine
            << "' is not supported" << std::endl;
-    return;
   }
 
   gz::rendering::ScenePtr scene = engine->CreateScene("scene");
@@ -238,18 +236,16 @@ void TriggeredBoundingBoxCameraTest::EmptyTriggerTopic(
     // Skip unsupported engines
   if (_renderEngine != "ogre2")
   {
-    gzdbg << "Engine '" << _renderEngine
+    GTEST_SKIP() << "Engine '" << _renderEngine
            << "' doesn't support bounding box cameras" << std::endl;
-    return;
   }
 
   // Setup gz-rendering with an empty scene
   auto *engine = gz::rendering::engine(_renderEngine);
   if (!engine)
   {
-    gzdbg << "Engine '" << _renderEngine
+    GTEST_SKIP() << "Engine '" << _renderEngine
            << "' is not supported" << std::endl;
-    return;
   }
 
   gz::rendering::ScenePtr scene = engine->CreateScene("scene");
diff --git a/test/integration/triggered_camera.cc b/test/integration/triggered_camera.cc
index b72bc180..41a68d3a 100644
--- a/test/integration/triggered_camera.cc
+++ b/test/integration/triggered_camera.cc
@@ -87,9 +87,8 @@ void TriggeredCameraTest::ImagesWithBuiltinSDF(const std::string &_renderEngine)
   auto *engine = gz::rendering::engine(_renderEngine);
   if (!engine)
   {
-    gzdbg << "Engine '" << _renderEngine
+    GTEST_SKIP() << "Engine '" << _renderEngine
            << "' is not supported" << std::endl;
-    return;
   }
 
   gz::rendering::ScenePtr scene = engine->CreateScene("scene");
@@ -182,9 +181,8 @@ void TriggeredCameraTest::EmptyTriggerTopic(const std::string &_renderEngine)
   auto *engine = gz::rendering::engine(_renderEngine);
   if (!engine)
   {
-    gzdbg << "Engine '" << _renderEngine
+    GTEST_SKIP() << "Engine '" << _renderEngine
            << "' is not supported" << std::endl;
-    return;
   }
 
   gz::rendering::ScenePtr scene = engine->CreateScene("scene");
diff --git a/test/integration/wide_angle_camera.cc b/test/integration/wide_angle_camera.cc
index f29d96d7..0e1da2ee 100644
--- a/test/integration/wide_angle_camera.cc
+++ b/test/integration/wide_angle_camera.cc
@@ -120,9 +120,8 @@ void WideAngleCameraSensorTest::ImagesWithBuiltinSDF(
   auto *engine = gz::rendering::engine(_renderEngine);
   if (!engine)
   {
-    gzdbg << "Engine '" << _renderEngine
+    GTEST_SKIP() << "Engine '" << _renderEngine
               << "' is not supported" << std::endl;
-    return;
   }
 
   gz::rendering::ScenePtr scene = engine->CreateScene("scene");