diff -up ./cmake/SearchForStuff.cmake.urdfdom ./cmake/SearchForStuff.cmake
--- ./cmake/SearchForStuff.cmake.urdfdom	2014-04-16 21:49:40.269514105 -0400
+++ ./cmake/SearchForStuff.cmake	2014-04-16 21:50:31.687724816 -0400
@@ -50,6 +50,22 @@ if (USE_EXTERNAL_URDF)
   endif()
 endif()
 
+################################################
+# Find gtest
+find_package(GTest)
+if (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/ 
diff -up ./src/CMakeLists.txt.urdfdom ./src/CMakeLists.txt