diff --git a/tooling/scripts/build_and_test_all.sh b/tooling/scripts/build_and_test_all.sh
index 0318b80ae..84c4707f0 100755
--- a/tooling/scripts/build_and_test_all.sh
+++ b/tooling/scripts/build_and_test_all.sh
@@ -7,11 +7,16 @@ if [ "$CI" ]; then
   flags="--no-status --force-color"
 fi
 
+# Enter wavemap's home directory
+pushd "$(dirname "$0")/../../" >> /dev/null || exit 1
+
+# Build all ROS1 packages, including the ROS examples
 # shellcheck disable=SC2086
 catkin build wavemap_all $flags
 # shellcheck disable=SC2086
 catkin build wavemap_all $flags --no-deps --catkin-make-args tests
 
+# Run all ROS1 tests, which indirectly also runs the C++ API's tests
 pushd "$(catkin locate --devel wavemap)/../.." >> /dev/null || exit 1
 all_tests_passed=1
 for f in lib/wavemap*/test_*; do
@@ -23,3 +28,12 @@ if [ $all_tests_passed -ne 1 ]; then
   echo "Not all tests passed!"
   exit 1
 fi
+
+# Build and test the Python API
+python3 -m pip install -v ./library/python/
+pytest -rAv ./library/python/
+
+# Build the C++ examples
+pushd examples/cpp >> /dev/null || exit 1
+cmake -S . -B build -DCMAKE_BUILD_TYPE=Release
+cmake --build build --parallel