diff --git a/perception/lidar_centerpoint/CMakeLists.txt b/perception/lidar_centerpoint/CMakeLists.txt
index 8a7f4c6107c67..ddd4d726b31c6 100644
--- a/perception/lidar_centerpoint/CMakeLists.txt
+++ b/perception/lidar_centerpoint/CMakeLists.txt
@@ -159,9 +159,12 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL)
     ament_auto_add_gtest(test_nms
       test/test_nms.cpp
     )
-    ament_auto_add_gtest(test_voxel_generator
-      test/test_voxel_generator.cpp
-    )
+
+    # Temporary disabled, tracked by:
+    # https://github.com/autowarefoundation/autoware.universe/issues/7724
+#    ament_auto_add_gtest(test_voxel_generator
+#      test/test_voxel_generator.cpp
+#    )
 
     add_executable(test_preprocess_kernel
       test/test_preprocess_kernel.cpp