diff --git a/ament_cmake_auto/CMakeLists.txt b/ament_cmake_auto/CMakeLists.txt
index 822b5878..93fc0876 100644
--- a/ament_cmake_auto/CMakeLists.txt
+++ b/ament_cmake_auto/CMakeLists.txt
@@ -3,6 +3,7 @@ cmake_minimum_required(VERSION 3.12)
 project(ament_cmake_auto NONE)
 
 find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_gtest REQUIRED)
 
 ament_package(
   CONFIG_EXTRAS "ament_cmake_auto-extras.cmake"
diff --git a/ament_cmake_auto/ament_cmake_auto-extras.cmake b/ament_cmake_auto/ament_cmake_auto-extras.cmake
index f5b4bd3d..7d6055e3 100644
--- a/ament_cmake_auto/ament_cmake_auto-extras.cmake
+++ b/ament_cmake_auto/ament_cmake_auto-extras.cmake
@@ -17,7 +17,9 @@
 find_package(ament_cmake QUIET REQUIRED)
 
 include("${ament_cmake_auto_DIR}/ament_auto_add_executable.cmake")
+include("${ament_cmake_auto_DIR}/ament_auto_add_gtest.cmake")
 include("${ament_cmake_auto_DIR}/ament_auto_add_library.cmake")
 include("${ament_cmake_auto_DIR}/ament_auto_generate_code.cmake")
 include("${ament_cmake_auto_DIR}/ament_auto_find_build_dependencies.cmake")
+include("${ament_cmake_auto_DIR}/ament_auto_find_test_dependencies.cmake")
 include("${ament_cmake_auto_DIR}/ament_auto_package.cmake")
diff --git a/ament_cmake_auto/cmake/ament_auto_add_gtest.cmake b/ament_cmake_auto/cmake/ament_auto_add_gtest.cmake
new file mode 100644
index 00000000..2bb04828
--- /dev/null
+++ b/ament_cmake_auto/cmake/ament_auto_add_gtest.cmake
@@ -0,0 +1,112 @@
+# Copyright 2021 Whitley Software Services, LLC
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+#
+# Add a gtest with all found test dependencies.
+#
+# Call add_executable(target ARGN), link it against the gtest libraries
+# and all found test dependencies, and then register the executable as a test.
+#
+# If gtest is not available the specified target is not being created and
+# therefore the target existence should be checked before being used.
+#
+# :param target: the target name which will also be used as the test name
+# :type target: string
+# :param ARGN: the list of source files
+# :type ARGN: list of strings
+# :param RUNNER: the path to the test runner script (default:
+#   see ament_add_test).
+# :type RUNNER: string
+# :param TIMEOUT: the test timeout in seconds,
+#   default defined by ``ament_add_test()``
+# :type TIMEOUT: integer
+# :param WORKING_DIRECTORY: the working directory for invoking the
+#   executable in, default defined by ``ament_add_test()``
+# :type WORKING_DIRECTORY: string
+# :param SKIP_LINKING_MAIN_LIBRARIES: if set skip linking against the gtest
+#   main libraries
+# :type SKIP_LINKING_MAIN_LIBRARIES: option
+# :param SKIP_TEST: if set mark the test as being skipped
+# :type SKIP_TEST: option
+# :param ENV: list of env vars to set; listed as ``VAR=value``
+# :type ENV: list of strings
+# :param APPEND_ENV: list of env vars to append if already set, otherwise set;
+#   listed as ``VAR=value``
+# :type APPEND_ENV: list of strings
+# :param APPEND_LIBRARY_DIRS: list of library dirs to append to the appropriate
+#   OS specific env var, a la LD_LIBRARY_PATH
+# :type APPEND_LIBRARY_DIRS: list of strings
+#
+# @public
+#
+macro(ament_auto_add_gtest target)
+  cmake_parse_arguments(_ARGN
+    "SKIP_LINKING_MAIN_LIBRARIES;SKIP_TEST"
+    "RUNNER;TIMEOUT;WORKING_DIRECTORY"
+    "APPEND_ENV;APPEND_LIBRARY_DIRS;ENV"
+    ${ARGN})
+  if(NOT _ARGN_UNPARSED_ARGUMENTS)
+    message(FATAL_ERROR
+      "ament_auto_add_gtest() must be invoked with at least one source file")
+  endif()
+
+  # add executable
+  set(_argn_executable ${_ARGN_UNPARSED_ARGUMENTS})
+  if(_ARG_SKIP_LINKING_MAIN_LIBRARIES)
+    list(APPEND _argn_executable "SKIP_LINKING_MAIN_LIBRARIES")
+  endif()
+  ament_add_gtest_executable("${target}" ${_argn_executable})
+
+  # add include directory of this package if it exists
+  if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/include")
+    target_include_directories("${target}" PUBLIC
+      "${CMAKE_CURRENT_SOURCE_DIR}/include")
+  endif()
+
+  # link against other libraries of this package
+  if(NOT ${PROJECT_NAME}_LIBRARIES STREQUAL "")
+    target_link_libraries("${target}" ${${PROJECT_NAME}_LIBRARIES})
+  endif()
+
+  # add exported information from found dependencies
+  ament_target_dependencies(${target}
+    ${${PROJECT_NAME}_FOUND_BUILD_DEPENDS}
+    ${${PROJECT_NAME}_FOUND_TEST_DEPENDS}
+  )
+
+  # add test
+  set(_argn_test "")
+  if(_ARG_RUNNER)
+    list(APPEND _argn_test "RUNNER" "${_ARG_RUNNER}")
+  endif()
+  if(_ARG_TIMEOUT)
+    list(APPEND _argn_test "TIMEOUT" "${_ARG_TIMEOUT}")
+  endif()
+  if(_ARG_WORKING_DIRECTORY)
+    list(APPEND _argn_test "WORKING_DIRECTORY" "${_ARG_WORKING_DIRECTORY}")
+  endif()
+  if(_ARG_SKIP_TEST)
+    list(APPEND _argn_test "SKIP_TEST")
+  endif()
+  if(_ARG_ENV)
+    list(APPEND _argn_test "ENV" ${_ARG_ENV})
+  endif()
+  if(_ARG_APPEND_ENV)
+    list(APPEND _argn_test "APPEND_ENV" ${_ARG_APPEND_ENV})
+  endif()
+  if(_ARG_APPEND_LIBRARY_DIRS)
+    list(APPEND _argn_test "APPEND_LIBRARY_DIRS" ${_ARG_APPEND_LIBRARY_DIRS})
+  endif()
+  ament_add_gtest_test("${target}" ${_argn_test})
+endmacro()
diff --git a/ament_cmake_auto/cmake/ament_auto_find_build_dependencies.cmake b/ament_cmake_auto/cmake/ament_auto_find_build_dependencies.cmake
index 5a883035..956a09f3 100644
--- a/ament_cmake_auto/cmake/ament_auto_find_build_dependencies.cmake
+++ b/ament_cmake_auto/cmake/ament_auto_find_build_dependencies.cmake
@@ -54,8 +54,8 @@ macro(ament_auto_find_build_dependencies)
   if(_unknown_packages)
     string(REPLACE ";" ", " _unknown_packages_str "${_unknown_packages}")
     message(FATAL_ERROR "ament_auto_find_build_dependencies() called with "
-      "required packages that are not listed as a build/buildtool dependency in "
-      "the package.xml: ${_unknown_packages_str}")
+      "required packages that are not listed as a build/buildtool dependency "
+      "in the package.xml: ${_unknown_packages_str}")
   endif()
 
   # try to find_package() all build dependencies
diff --git a/ament_cmake_auto/cmake/ament_auto_find_test_dependencies.cmake b/ament_cmake_auto/cmake/ament_auto_find_test_dependencies.cmake
new file mode 100644
index 00000000..fa64ce5c
--- /dev/null
+++ b/ament_cmake_auto/cmake/ament_auto_find_test_dependencies.cmake
@@ -0,0 +1,41 @@
+# Copyright 2021 Whitley Software Services, LLC
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+#
+# Invoke find_package() for all test dependencies.
+#
+# All found package names are appended to the
+# ``${PROJECT_NAME}_FOUND_TEST_DEPENDS`` variables.
+#
+# @public
+#
+macro(ament_auto_find_test_dependencies)
+  set(_ARGN "${ARGN}")
+  if(_ARGN)
+    message(FATAL_ERROR "ament_lint_auto_find_test_dependencies() called with "
+      "unused arguments: ${_ARGN}")
+  endif()
+
+  if(NOT _AMENT_PACKAGE_NAME)
+    ament_package_xml()
+  endif()
+
+  # try to find_package() all test dependencies
+  foreach(_dep ${${PROJECT_NAME}_TEST_DEPENDS})
+    find_package(${_dep} QUIET)
+    if(${_dep}_FOUND)
+      list(APPEND ${PROJECT_NAME}_FOUND_TEST_DEPENDS ${_dep})
+    endif()
+  endforeach()
+endmacro()
diff --git a/ament_cmake_auto/package.xml b/ament_cmake_auto/package.xml
index 0ec924ae..438306fd 100644
--- a/ament_cmake_auto/package.xml
+++ b/ament_cmake_auto/package.xml
@@ -10,7 +10,9 @@
   <author>Dirk Thomas</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_gtest</buildtool_depend>
   <buildtool_export_depend>ament_cmake</buildtool_export_depend>
+  <buildtool_export_depend>ament_cmake_gtest</buildtool_export_depend>
 
   <export>
     <build_type>ament_cmake</build_type>