diff -up ./cmake/sdf_config.h.in.urdfdom ./cmake/sdf_config.h.in
--- ./cmake/sdf_config.h.in.urdfdom	2014-08-22 21:07:12.473338538 -0400
+++ ./cmake/sdf_config.h.in	2014-08-22 21:07:34.382208622 -0400
@@ -26,7 +26,7 @@
 #cmakedefine BUILD_TYPE_RELEASE 1
 #cmakedefine HAVE_URDFDOM 1
 #cmakedefine USE_EXTERNAL_URDF 1
-#cmakedefine URDF_GT_0P3 1
+#cmakedefine URDF_GE_0P3 1
 
 #define SDF_SHARE_PATH "${CMAKE_INSTALL_PREFIX}/share/"
 #define SDF_VERSION_PATH "${CMAKE_INSTALL_PREFIX}/share/sdformat/${SDF_PKG_VERSION}"
diff -up ./cmake/SearchForStuff.cmake.urdfdom ./cmake/SearchForStuff.cmake
--- ./cmake/SearchForStuff.cmake.urdfdom	2014-07-11 13:50:35.000000000 -0400
+++ ./cmake/SearchForStuff.cmake	2014-08-22 20:59:39.239507142 -0400
@@ -62,12 +62,25 @@ if (USE_EXTERNAL_URDF)
       set (URDF_GE_0P3 TRUE)
     endif()
 
-    # what am I doing here? pkg-config and cmake
-    set(URDF_INCLUDE_DIRS ${URDF_INCLUDEDIR})
-    set(URDF_LIBRARY_DIRS ${URDF_LIBDIR})
   endif()
 endif()
 
+################################################
+# Find gtest
+find_package(GTest)
+if (USE_EXTERNAL_GTEST AND GTEST_FOUND)
+  set(GTEST_LIBRARY ${GTEST_LIBRARIES})
+  set(GTEST_MAIN_LIBRARY ${GTEST_MAIN_LIBRARIES})
+  set(GTEST_INCLUDE_DIR ${GTEST_INCLUDE_DIRS})
+else()
+  add_library(gtest STATIC "${PROJECT_SOURCE_DIR}/test/gtest/src/gtest-all.cc")
+  add_library(gtest_main STATIC "${PROJECT_SOURCE_DIR}/test/gtest/src/gtest_main.cc")
+  target_link_libraries(gtest_main gtest)
+  set(GTEST_LIBRARY "${PROJECT_BINARY_DIR}/test/libgtest.a")
+  set(GTEST_MAIN_LIBRARY "${PROJECT_BINARY_DIR}/test/libgtest_main.a")
+  set(GTEST_INCLUDE_DIR "${PROJECT_SOURCE_DIR}/test/gtest/include")
+endif()
+
 #################################################
 # Macro to check for visibility capability in compiler
 # Original idea from: https://gitorious.org/ferric-cmake-stuff/