diff --git a/mav_trajectory_generation/CMakeLists.txt b/mav_trajectory_generation/CMakeLists.txt
index 2b15960e..1035088c 100644
--- a/mav_trajectory_generation/CMakeLists.txt
+++ b/mav_trajectory_generation/CMakeLists.txt
@@ -47,15 +47,17 @@ target_link_libraries(polynomial_timing_evaluation ${PROJECT_NAME})
 #########
 # TESTS #
 #########
-catkin_add_gtest(test_polynomial
-  test/test_polynomial.cpp
-)
-target_link_libraries(test_polynomial ${PROJECT_NAME} ${catkin_LIBRARIES})
+if (CATKIN_ENABLE_TESTING)
+    catkin_add_gtest(test_polynomial
+      test/test_polynomial.cpp
+    )
+    target_link_libraries(test_polynomial ${PROJECT_NAME} ${catkin_LIBRARIES})
 
-catkin_add_gtest(test_polynomial_optimization
-  test/test_polynomial_optimization.cpp
-)
-target_link_libraries(test_polynomial_optimization ${PROJECT_NAME} ${catkin_LIBRARIES})
+    catkin_add_gtest(test_polynomial_optimization
+      test/test_polynomial_optimization.cpp
+    )
+    target_link_libraries(test_polynomial_optimization ${PROJECT_NAME} ${catkin_LIBRARIES})
+endif()
 
 ##########
 # EXPORT #
diff --git a/mav_trajectory_generation_ros/CMakeLists.txt b/mav_trajectory_generation_ros/CMakeLists.txt
index f80efc05..8d3100d7 100644
--- a/mav_trajectory_generation_ros/CMakeLists.txt
+++ b/mav_trajectory_generation_ros/CMakeLists.txt
@@ -48,10 +48,12 @@ target_link_libraries(time_evaluation_node ${PROJECT_NAME})
 #########
 # TESTS #
 #########
-catkin_add_gtest(test_feasibility
-  test/test_feasibility.cpp
-)
-target_link_libraries(test_feasibility ${PROJECT_NAME} ${catkin_LIBRARIES})
+if (CATKIN_ENABLE_TESTING)
+    catkin_add_gtest(test_feasibility
+      test/test_feasibility.cpp
+    )
+    target_link_libraries(test_feasibility ${PROJECT_NAME} ${catkin_LIBRARIES})
+endif()
 
 ##########
 # EXPORT #