diff --git a/cmake/test/gtest.cmake b/cmake/test/gtest.cmake
index a87d3a90b..ebfbf0cca 100644
--- a/cmake/test/gtest.cmake
+++ b/cmake/test/gtest.cmake
@@ -2,14 +2,12 @@ _generate_function_if_testing_is_disabled(
   "catkin_add_gtest"
   "catkin_add_gmock"
   "catkin_add_executable_with_gtest"
-  "catkin_add_executable_with_gmock"
-  "catkin_find_google_test_source")
+  "catkin_add_executable_with_gmock")
 _generate_function_if_no_cxx_language(
   "catkin_add_gtest"
   "catkin_add_gmock"
   "catkin_add_executable_with_gtest"
-  "catkin_add_executable_with_gmock"
-  "catkin_find_google_test_source")
+  "catkin_add_executable_with_gmock")
 
 #
 # Add a GTest based test target.
@@ -155,8 +153,7 @@ function(_catkin_add_executable_with_google_test type target)
   if (NOT "${type}" STREQUAL "gtest" AND NOT "${type}" STREQUAL "gmock")
     message(FATAL_ERROR "Invalid use of _catkin_add_executable_google_test function, first argument must be 'gtest' or 'gmock'")
   endif()
-  string(TOUPPER "${type}" type_upper)
-  if(NOT ${type_upper}_FOUND AND NOT ${type_upper}_FROM_SOURCE_FOUND)
+  if(NOT GTest_FOUND)
     message(WARNING "skipping ${type} '${target}' in project '${PROJECT_NAME}' because ${type} was not found")
     return()
   endif()
@@ -167,317 +164,24 @@ function(_catkin_add_executable_with_google_test type target)
 
   cmake_parse_arguments(ARG "EXCLUDE_FROM_ALL" "" "" ${ARGN})
 
-  if ("${type}" STREQUAL "gmock")
-    # gmock requires gtest headers and libraries
-    list(APPEND GMOCK_INCLUDE_DIRS ${GTEST_INCLUDE_DIRS})
-    list(APPEND GMOCK_LIBRARY_DIRS ${GTEST_LIBRARY_DIRS})
-    list(APPEND GMOCK_LIBRARIES ${GTEST_LIBRARIES})
-  endif()
-
   # create the executable, with basic + gtest/gmock build flags
-  include_directories(${${type_upper}_INCLUDE_DIRS})
-  link_directories(${${type_upper}_LIBRARY_DIRS})
   add_executable(${target} ${ARG_UNPARSED_ARGUMENTS})
   if(ARG_EXCLUDE_FROM_ALL)
     set_target_properties(${target} PROPERTIES EXCLUDE_FROM_ALL TRUE)
   endif()
 
-  assert(${type_upper}_LIBRARIES)
-  target_link_libraries(${target} ${${type_upper}_LIBRARIES} ${THREADS_LIBRARY})
+  target_link_libraries(${target} GTest::${type})
 endfunction()
 
-# Internal function for finding gtest or gmock sources
-function(_catkin_find_google_source type include_paths
-  src_paths found base_dir include_dir lib_dir libs main_libs)
-  # Find the gtest headers
-  find_file(_${type}_INCLUDES "${type}.h"
-            PATHS ${include_paths}
-            NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
-
-  # Find the gtest sources
-  find_file(_${type}_SOURCES "${type}.cc"
-            PATHS ${src_paths}
-            NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
-
-  # If we found gtest, set the variables accordingly
-  if(_${type}_INCLUDES AND _${type}_SOURCES)
-    get_filename_component(SOURCE_DIR ${_${type}_SOURCES} PATH)
-    get_filename_component(BASE_DIR ${SOURCE_DIR} PATH)
-
-    get_filename_component(INCLUDE_DIR ${_${type}_INCLUDES} PATH)
-    get_filename_component(INCLUDE_DIR ${INCLUDE_DIR} PATH)
-
-    set(${found} TRUE PARENT_SCOPE)
-    set(${base_dir} ${BASE_DIR} PARENT_SCOPE)
-    set(${include_dir} ${INCLUDE_DIR} PARENT_SCOPE)
-    set(${lib_dir} ${CMAKE_BINARY_DIR}/${type} PARENT_SCOPE)
-    set(${libs} "${type}" PARENT_SCOPE)
-    set(${main_libs} "${type}_main" PARENT_SCOPE)
-  endif()
-endfunction()
-
-# Find Google Test (GTest and optionally GMock) source-only install.
-#
-# Google recommends distributing GTest and GMock as source only, to be built with the same
-# flags as that which is being tested.
-#
-# :param[in] gtest_path: Base path to search for gtest sources and includes, eg /usr
-# :param[in] googletest_path: Base path to search for googletest-packaged gtest/gmock,
-#                             eg, /usr/src/googletest
-# :param[out] gtest_found: Whether or not GTest was found in the paths provided
-# :param[out] gtest_include_dir: The include path to access GTest's headers
-# :param[out] gtest_lib_dir: The library path to access GTest's libraries
-# :param[out] gtest_libs: GTest's libraries
-# :param[out] gtest_main_libs: GTest's main libraries
-# :param[out] gmock_found: Whether or not GMock was found in the paths provided
-# :param[out] gmock_include_dir: The include path to access GMock's headers
-# :param[out] gmock_lib_dir: The library path to access GMock's libraries
-# :param[out] gmock_libs: GMock's libraries
-# :param[out] gmock_main_libs: GMock's main libraries
-# :param[out] base_dir: The base directory containing Google Test and/or GMock CMakeLists.txt
-#
-function(catkin_find_google_test_source gtest_path googletest_path
-  gtest_found gtest_include_dir gtest_lib_dir gtest_libs gtest_main_libs
-  gmock_found gmock_include_dir gmock_lib_dir gmock_libs gmock_main_libs
-  base_dir
-)
-  # Path to gtest from the libgtest-dev Debian package.
-  set(_gtest_include_paths "${gtest_path}/include/gtest")
-  set(_gtest_source_paths "${gtest_path}/src/gtest/src")
-
-  # Path to gtest from the googletest Debian package.
-  list(APPEND _gtest_include_paths "${googletest_path}/googletest/include/gtest")
-  list(APPEND _gtest_source_paths "${googletest_path}/googletest/src")
-
-  # Path to gtest from the gtest Arch Linux package. Header location already included
-  # list(APPEND _gtest_include_paths "${gtest_path}/include/gtest")
-  list(APPEND _gtest_source_paths "${googletest_path}/src")
-
-  if(CATKIN_TOPLEVEL)
-    # Ensure current workspace is searched before system path
-    list(INSERT _gtest_include_paths 0 "${CMAKE_SOURCE_DIR}/googletest/googletest/include/gtest")
-    list(INSERT _gtest_source_paths 0 "${CMAKE_SOURCE_DIR}/googletest/googletest/src")
-  endif()
-
-  _catkin_find_google_source("gtest" "${_gtest_include_paths}"
-                             "${_gtest_source_paths}" _gtest_found
-                             _gtest_base_dir _gtest_include_dir _gtest_lib_dir
-                             _gtest_libs _gtest_main_libs)
-  set(${gtest_found} ${_gtest_found} PARENT_SCOPE)
-  set(${gtest_base_dir} ${_gtest_base_dir} PARENT_SCOPE)
-  set(${gtest_include_dir} ${_gtest_include_dir} PARENT_SCOPE)
-  set(${gtest_lib_dir} ${_gtest_lib_dir} PARENT_SCOPE)
-  set(${gtest_libs} ${_gtest_libs} PARENT_SCOPE)
-  set(${gtest_main_libs} ${_gtest_main_libs} PARENT_SCOPE)
-  set(${base_dir} ${_gtest_base_dir} PARENT_SCOPE)
-
-  # Path to gmock from the google-mock Debian package before v1.8.0.
-  set(_gmock_include_paths "${gtest_path}/include/gmock")
-  set(_gmock_source_paths "${gtest_path}/src/gmock/src")
-
-  # Path to gmock from the googletest Debian package.
-  list(APPEND _gmock_include_paths "${googletest_path}/googlemock/include/gmock")
-  list(APPEND _gmock_source_paths "${googletest_path}/googlemock/src")
-
-  if(CATKIN_TOPLEVEL)
-    # Ensure current workspace is searched before system path
-    list(INSERT _gmock_include_paths 0 "${CMAKE_SOURCE_DIR}/googletest/googlemock/include/gmock")
-    list(INSERT _gmock_source_paths 0 "${CMAKE_SOURCE_DIR}/googletest/googlemock/src")
-  endif()
-
-  _catkin_find_google_source("gmock" "${_gmock_include_paths}"
-                             "${_gmock_source_paths}" _gmock_found
-                             _gmock_base_dir _gmock_include_dir _gmock_lib_dir
-                             _gmock_libs _gmock_main_libs)
-  if(_gmock_found)
-    set(${gmock_found} ${_gmock_found} PARENT_SCOPE)
-    set(${gmock_base_dir} ${_gmock_base_dir} PARENT_SCOPE)
-    set(${gmock_include_dir} ${_gmock_include_dir} PARENT_SCOPE)
-    set(${gmock_lib_dir} ${_gmock_lib_dir} PARENT_SCOPE)
-    set(${gmock_libs} ${_gmock_libs} PARENT_SCOPE)
-    set(${gmock_main_libs} ${_gmock_main_libs} PARENT_SCOPE)
-
-    #Overwrite gtest base_dir with gmock's
-    set(${base_dir} ${_gmock_base_dir} PARENT_SCOPE)
-  endif()
-
-  # In googletest 1.8, gmock and gtest were merged inside googletest
-  # In this case, including gmock builds gmock twice, so instead we need to include googletest
-  # which will include gtest and gmock once
-  if(_gtest_found)
-    get_filename_component(_gtest_base_dir_realpath ${_gtest_base_dir} REALPATH)
-    get_filename_component(_global_base_dir ${_gtest_base_dir_realpath} PATH)
-    if(EXISTS "${_global_base_dir}/CMakeLists.txt")
-      set(${base_dir} ${_global_base_dir} PARENT_SCOPE)
-    endif()
-  endif()
-endfunction()
-
-find_package(GMock QUIET)
-# the GMockConfig.cmake from the Debian package cmake-extras provides all targets
-if(TARGET gtest AND TARGET gtest_main AND TARGET gmock AND TARGET gmock_main)
-  set(GMOCK_FOUND TRUE)
-  set(GTEST_FOUND TRUE)
-
-  # If we build these from source in a previous catkin (sub)project,
-  # define all variables from their FROM_SOURCE counterparts (again).
-  # As these variables are (explicitly!) not cached, they become reset on a new project.
-  if(GMOCK_FROM_SOURCE_FOUND)
-    set(GMOCK_INCLUDE_DIRS ${GMOCK_FROM_SOURCE_INCLUDE_DIRS})
-    set(GMOCK_LIBRARY_DIRS ${GMOCK_FROM_SOURCE_LIBRARY_DIRS})
-    set(GMOCK_LIBRARIES ${GMOCK_FROM_SOURCE_LIBRARIES})
-    set(GMOCK_MAIN_LIBRARIES ${GMOCK_FROM_SOURCE_MAIN_LIBRARIES})
-    set(GMOCK_BOTH_LIBRARIES ${GMOCK_LIBRARIES} ${GMOCK_MAIN_LIBRARIES})
-  endif()
-  if(GTEST_FROM_SOURCE_FOUND)
-    set(GTEST_INCLUDE_DIRS ${GTEST_FROM_SOURCE_INCLUDE_DIRS})
-    set(GTEST_LIBRARY_DIRS ${GTEST_FROM_SOURCE_LIBRARY_DIRS})
-    set(GTEST_LIBRARIES ${GTEST_FROM_SOURCE_LIBRARIES})
-    set(GTEST_MAIN_LIBRARIES ${GTEST_FROM_SOURCE_MAIN_LIBRARIES})
-    set(GTEST_BOTH_LIBRARIES ${GTEST_LIBRARIES} ${GTEST_MAIN_LIBRARIES})
-  endif()
-else()
-  find_package(GTest QUIET)
-endif()
-if(NOT GMOCK_FOUND OR NOT GTEST_FOUND)
-  # If we find one but not the other, see if we can get both from source
-  # only add gmock/gtest directory once per workspace
-  if(NOT TARGET gtest AND NOT TARGET gmock)
-    # Path to base of legacy libgtest-dev and google-mock packages.
-    set(_gtest_path "/usr")
-
-    # Path to base of new googletest package, which includes both gtest and gmock.
-    set(_googletest_path "/usr/src/googletest")
-
-    catkin_find_google_test_source("${_gtest_path}" "${_googletest_path}" gtest_found
-                                   gtest_include_dir gtest_lib_dir gtest_libs gtest_main_libs
-                                   gmock_found gmock_include_dir gmock_lib_dir gmock_libs
-                                   gmock_main_libs base_dir)
-    if (gtest_found AND gmock_found)
-      if(GMOCK_FOUND OR GTEST_FOUND)
-        message(STATUS "Forcing gtest/gmock from source, though one was otherwise available.")
-      endif()
-      set(FORCE_GTEST_GMOCK_FROM_SOURCE TRUE)
-    endif()
-  endif()
-endif()
-
-if(FORCE_GTEST_GMOCK_FROM_SOURCE OR (NOT GMOCK_FOUND AND NOT GTEST_FOUND))
-  if(gtest_found)
-    set(GTEST_FROM_SOURCE_FOUND ${gtest_found} CACHE INTERNAL "")
-    set(GTEST_FROM_SOURCE_INCLUDE_DIRS ${gtest_include_dir} CACHE INTERNAL "")
-    set(GTEST_FROM_SOURCE_LIBRARY_DIRS ${gtest_lib_dir} CACHE INTERNAL "")
-    set(GTEST_FROM_SOURCE_LIBRARIES ${gtest_libs} CACHE INTERNAL "")
-    set(GTEST_FROM_SOURCE_MAIN_LIBRARIES ${gtest_main_libs} CACHE INTERNAL "")
-    message(STATUS "Found gtest sources under '${base_dir}': gtests will be built")
-  endif()
-  if(gmock_found)
-    set(GMOCK_FROM_SOURCE_FOUND ${gmock_found} CACHE INTERNAL "")
-    set(GMOCK_FROM_SOURCE_INCLUDE_DIRS ${gmock_include_dir} CACHE INTERNAL "")
-    set(GMOCK_FROM_SOURCE_LIBRARY_DIRS ${gmock_lib_dir} CACHE INTERNAL "")
-    set(GMOCK_FROM_SOURCE_LIBRARIES ${gmock_libs} CACHE INTERNAL "")
-    set(GMOCK_FROM_SOURCE_MAIN_LIBRARIES ${gmock_main_libs} CACHE INTERNAL "")
-    message(STATUS "Found gmock sources under '${base_dir}': gmock will be built")
-  endif()
-  if(base_dir)
-    # overwrite CMake install command to skip install rules for gtest targets
-    # which have been added in version 1.8.0
-    # Googletest 1.10 has a INSTALL_GTEST option that we can override,
-    # so we do that, too.
-    option(INSTALL_GTEST "This option must be turned OFF" OFF)
-    _use_custom_install()
-    set(_CATKIN_SKIP_INSTALL_RULES TRUE)
-    add_subdirectory(${base_dir} ${gtest_lib_dir})
-    set(_CATKIN_SKIP_INSTALL_RULES FALSE)
-    # Fix output directories, which conflict with Python's setup.py
-    set_target_properties(${gtest_libs} ${gtest_main_libs}
-                          PROPERTIES EXCLUDE_FROM_ALL 1
-                          LIBRARY_OUTPUT_DIRECTORY ${gtest_lib_dir}/lib
-                          ARCHIVE_OUTPUT_DIRECTORY ${gtest_lib_dir}/lib)
-    if(gmock_found)
-      set_target_properties(${gmock_libs} ${gmock_main_libs}
-                            PROPERTIES EXCLUDE_FROM_ALL 1
-                            LIBRARY_OUTPUT_DIRECTORY ${gtest_lib_dir}/lib
-                            ARCHIVE_OUTPUT_DIRECTORY ${gtest_lib_dir}/lib)
-    endif()
-  endif()
-
-  if(GMOCK_FROM_SOURCE_FOUND)
-    # set the same variables as find_package()
-    # do NOT set in the cache since when using gmock/gtest from source
-    # we must always add the subdirectory to have their targets defined
-    set(GMOCK_FOUND ${GMOCK_FROM_SOURCE_FOUND})
-    set(GMOCK_INCLUDE_DIRS ${GMOCK_FROM_SOURCE_INCLUDE_DIRS})
-    set(GMOCK_LIBRARY_DIRS ${GMOCK_FROM_SOURCE_LIBRARY_DIRS})
-    set(GMOCK_LIBRARIES ${GMOCK_FROM_SOURCE_LIBRARIES})
-    set(GMOCK_MAIN_LIBRARIES ${GMOCK_FROM_SOURCE_MAIN_LIBRARIES})
-    set(GMOCK_BOTH_LIBRARIES ${GMOCK_LIBRARIES} ${GMOCK_MAIN_LIBRARIES})
-  endif()
-
-  if(GTEST_FROM_SOURCE_FOUND)
-    # set the same variables as find_package()
-    # do NOT set in the cache since when using gtest from source
-    # we must always add the subdirectory to have their targets defined
-    set(GTEST_FOUND ${GTEST_FROM_SOURCE_FOUND})
-    set(GTEST_INCLUDE_DIRS ${GTEST_FROM_SOURCE_INCLUDE_DIRS})
-    set(GTEST_LIBRARY_DIRS ${GTEST_FROM_SOURCE_LIBRARY_DIRS})
-    set(GTEST_LIBRARIES ${GTEST_FROM_SOURCE_LIBRARIES})
-    set(GTEST_MAIN_LIBRARIES ${GTEST_FROM_SOURCE_MAIN_LIBRARIES})
-    set(GTEST_BOTH_LIBRARIES ${GTEST_LIBRARIES} ${GTEST_MAIN_LIBRARIES})
-  endif()
-else()
-  if(GMOCK_FOUND)
-    message(STATUS "Found gmock: gmock and gtests will be built")
-    set(GMOCK_FOUND ${GMOCK_FOUND} CACHE INTERNAL "")
-    set(GMOCK_INCLUDE_DIRS ${GMOCK_INCLUDE_DIRS} CACHE INTERNAL "")
-    set(GMOCK_LIBRARIES ${GMOCK_LIBRARIES} CACHE INTERNAL "")
-    set(GMOCK_MAIN_LIBRARIES ${GMOCK_MAIN_LIBRARIES} CACHE INTERNAL "")
-    set(GMOCK_BOTH_LIBRARIES ${GMOCK_BOTH_LIBRARIES} CACHE INTERNAL "")
-
-    set(GTEST_FOUND ${GMOCK_FOUND} CACHE INTERNAL "")
-    set(GTEST_INCLUDE_DIRS ${GMOCK_INCLUDE_DIRS} CACHE INTERNAL "")
-    set(GTEST_LIBRARY_DIRS ${GMOCK_LIBRARY_DIRS} CACHE INTERNAL "")
-    set(GTEST_LIBRARIES ${GMOCK_LIBRARIES} CACHE INTERNAL "")
-    set(GTEST_MAIN_LIBRARIES ${GMOCK_MAIN_LIBRARIES} CACHE INTERNAL "")
-    set(GTEST_BOTH_LIBRARIES ${GMOCK_BOTH_LIBRARIES} CACHE INTERNAL "")
-  elseif(GTEST_FOUND)
-    message(STATUS "Found gtest: gtests will be built")
-    set(GTEST_FOUND ${GTEST_FOUND} CACHE INTERNAL "")
-    set(GTEST_INCLUDE_DIRS ${GTEST_INCLUDE_DIRS} CACHE INTERNAL "")
-    set(GTEST_LIBRARIES ${GTEST_LIBRARIES} CACHE INTERNAL "")
-    set(GTEST_MAIN_LIBRARIES ${GTEST_MAIN_LIBRARIES} CACHE INTERNAL "")
-    set(GTEST_BOTH_LIBRARIES ${GTEST_BOTH_LIBRARIES} CACHE INTERNAL "")
-  endif()
-endif()
-
-if(NOT GTEST_FOUND)
-  if(CATKIN_TOPLEVEL)
-    message(STATUS "gtest not found, C++ tests can not be built. Please install the gtest headers globally in your system or checkout gtest (by running 'git clone  https://github.com/google/googletest.git -b release-1.8.0' in the source space '${CMAKE_SOURCE_DIR}' of your workspace) to enable gtests")
-  else()
-    message(STATUS "gtest not found, C++ tests can not be built. Please install the gtest headers globally in your system to enable gtests")
-  endif()
-endif()
-
-if(GMOCK_FOUND AND NOT TARGET gmock)
-  add_library(gmock UNKNOWN IMPORTED)
-  set_target_properties(gmock PROPERTIES IMPORTED_LOCATION "${GMOCK_LIBRARIES}")
-endif()
-if(GMOCK_FOUND AND NOT TARGET gmock_main)
-  add_library(gmock_main UNKNOWN IMPORTED)
-  set_target_properties(gmock_main PROPERTIES IMPORTED_LOCATION "${GMOCK_MAIN_LIBRARIES}")
-endif()
-if(GTEST_FOUND AND NOT TARGET gtest)
-  add_library(gtest SHARED IMPORTED)
-  set_target_properties(gtest PROPERTIES IMPORTED_LOCATION "${GTEST_LIBRARIES}")
-endif()
-if(GTEST_FOUND AND NOT TARGET gtest_main)
-  add_library(gtest_main SHARED IMPORTED)
-  set_target_properties(gtest_main PROPERTIES IMPORTED_LOCATION "${GTEST_MAIN_LIBRARIES}")
-endif()
-
-# For Visual C++, need to increase variadic template size to build gtest
-if(GTEST_FOUND)
-  if(WIN32)
-    add_definitions(/D _VARIADIC_MAX=10)
-  endif()
+find_package(GTest QUIET)
+if(NOT GTest_FOUND)
+  message(STATUS "Failed to find GTest on this system, downloading source files")
+  include(FetchContent)
+  FetchContent_Declare(
+    googletest
+    URL https://github.com/google/googletest/archive/03597a01ee50ed33e9dfd640b249b4be3799d395.zip
+  )
+  # For Windows: Prevent overriding the parent project's compiler/linker settings
+  set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
+  FetchContent_MakeAvailable(googletest)
 endif()