diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 5df69c3..169e582 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -46,6 +46,8 @@ jobs:
       run: sudo apt-get install libsdl2-dev
     - name: Build simulator
       run: make build_simulator
+    - name: Run simulator
+      run: timeout --preserve-status 30 make simulator GAZEBO=gzserver || [ $? -eq 143 ]
     - uses: actions/upload-artifact@v3
       with:
         name: gazebo-plugin-binary
@@ -53,7 +55,6 @@ jobs:
         retention-days: 1
 
   build_simulator_macos:
-    if: false # temporarily disable
     runs-on: macos-latest
     steps:
     - uses: actions/checkout@v3
@@ -70,3 +71,7 @@ jobs:
       run: brew install sdl2
     - name: Build simulator
       run: make build_simulator
+    - name: Run simulator
+      run: |
+        brew install coreutils
+        timeout --preserve-status 30 make simulator GAZEBO=gzserver || [ $? -eq 143 ]
diff --git a/Makefile b/Makefile
index c6e2584..4fedba5 100644
--- a/Makefile
+++ b/Makefile
@@ -27,10 +27,11 @@ gazebo/build cmake: gazebo/CMakeLists.txt
 build_simulator: gazebo/build
 	make -C gazebo/build
 
+GAZEBO ?= gazebo
 simulator: build_simulator
 	GAZEBO_MODEL_PATH=$$GAZEBO_MODEL_PATH:${CURDIR}/gazebo/models \
 	GAZEBO_PLUGIN_PATH=$$GAZEBO_PLUGIN_PATH:${CURDIR}/gazebo/build \
-	gazebo --verbose ${CURDIR}/gazebo/flix.world
+	$(GAZEBO) --verbose ${CURDIR}/gazebo/flix.world
 
 log:
 	PORT=$(PORT) tools/grab_log.py