diff --git a/.github/workflows/apt.yml b/.github/workflows/apt.yml
index f693aa8..4214411 100644
--- a/.github/workflows/apt.yml
+++ b/.github/workflows/apt.yml
@@ -41,7 +41,10 @@ jobs:
         sudo apt-get update
         # YARP dependencies
         sudo apt-get install git build-essential cmake ninja-build libace-dev libeigen3-dev libopencv-dev libtinyxml-dev
+        # gz-sim-yarp-plugins dependencies
         sudo apt-get install gz-${{ matrix.gazebo_distro }}
+        # Test dependencies
+        sudo apt-get install libgtest-dev
 
     - name: Cache Source-based Dependencies
       id: cache-source-deps
diff --git a/README.md b/README.md
index b6db20d..d854818 100644
--- a/README.md
+++ b/README.md
@@ -14,7 +14,7 @@ installing the dependencies with conda-forge on Linux, macOS or Windows, or apt
 Create and activate an environment with the required dependencies:
 
 ~~~
-mamba create -c conda-forge -n gsypdev libgz-sim8 yarp ycm-cmake-modules cmake ninja pkg-config cmake compilers
+mamba create -c conda-forge -n gsypdev libgz-sim8 yarp ycm-cmake-modules cmake ninja pkg-config cmake compilers gtest
 mamba activate gsypdev
 ~~~
 
@@ -48,7 +48,7 @@ First install some necessary dependencies from apt
 
 ~~~
 sudo apt-get update
-sudo apt-get install lsb-release wget gnupg cmake pkg-config ninja-build build-essential
+sudo apt-get install lsb-release wget gnupg cmake pkg-config ninja-build build-essential libgtest-dev
 ~~~
 
 Then install Gazebo Harmonic:
diff --git a/ci_env.yml b/ci_env.yml
index 7e5a8d8..5f9c59f 100644
--- a/ci_env.yml
+++ b/ci_env.yml
@@ -9,3 +9,4 @@ dependencies:
   - pkg-config
   - libgz-sim8
   - yarp
+  - gtest
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 4583d0f..28234a7 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -1,11 +1,4 @@
-# Fetch and configure GTest
-include(FetchContent)
-FetchContent_Declare(
-  googletest
-  URL https://github.com/google/googletest/archive/609281088cfefc76f9d0ce82e1ff6c30cc3591e5.zip
-)
-set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
-FetchContent_MakeAvailable(googletest)
+find_package(GTest REQUIRED)
 
 add_subdirectory(forcetorque)
 add_subdirectory(imu)
diff --git a/tests/camera/CMakeLists.txt b/tests/camera/CMakeLists.txt
index 51abf47..f135120 100644
--- a/tests/camera/CMakeLists.txt
+++ b/tests/camera/CMakeLists.txt
@@ -1,6 +1,6 @@
 add_executable(CameraTest CameraTest.cc)
 target_link_libraries(CameraTest
-  gtest_main
+  GTest::gtest_main
   gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
   gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
   ${YARP_LIBRARIES}
diff --git a/tests/clock/CMakeLists.txt b/tests/clock/CMakeLists.txt
index 4d975b9..2f10b57 100644
--- a/tests/clock/CMakeLists.txt
+++ b/tests/clock/CMakeLists.txt
@@ -1,6 +1,6 @@
 add_executable(ClockTest ClockTest.cc)
 target_link_libraries(ClockTest
-  gtest_main
+  GTest::gtest_main
   gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
   gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
   YARP::YARP_dev
diff --git a/tests/commons/CMakeLists.txt b/tests/commons/CMakeLists.txt
index e978278..cfd0112 100644
--- a/tests/commons/CMakeLists.txt
+++ b/tests/commons/CMakeLists.txt
@@ -2,7 +2,7 @@ add_executable(ConfigurationParsingTest ConfigurationParsingTest.cc)
 
 target_link_libraries(ConfigurationParsingTest
 PRIVATE
-  gtest_main
+  GTest::gtest_main
   gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
   gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
   YARP::YARP_dev
diff --git a/tests/controlboard/CMakeLists.txt b/tests/controlboard/CMakeLists.txt
index b9d5864..c5506e8 100644
--- a/tests/controlboard/CMakeLists.txt
+++ b/tests/controlboard/CMakeLists.txt
@@ -9,7 +9,7 @@ foreach(TEST ${TESTS})
   add_executable(${TEST} ${TEST}.cc)
 
   target_link_libraries(${TEST}
-    PRIVATE gtest_main
+    PRIVATE GTest::gtest_main
     PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
     PRIVATE gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
     PRIVATE
diff --git a/tests/forcetorque/CMakeLists.txt b/tests/forcetorque/CMakeLists.txt
index 1c17d7f..cab4fe9 100644
--- a/tests/forcetorque/CMakeLists.txt
+++ b/tests/forcetorque/CMakeLists.txt
@@ -1,6 +1,6 @@
 add_executable(ForceTorqueTest ForceTorqueTest.cc)
 target_link_libraries(ForceTorqueTest
-  gtest_main
+  GTest::gtest_main
   gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
   gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
   ${YARP_LIBRARIES}
diff --git a/tests/imu/CMakeLists.txt b/tests/imu/CMakeLists.txt
index b27f446..3ccbe3c 100644
--- a/tests/imu/CMakeLists.txt
+++ b/tests/imu/CMakeLists.txt
@@ -1,6 +1,6 @@
 add_executable(ImuTest ImuTest.cc)
 target_link_libraries(ImuTest
-  PRIVATE gtest_main
+  PRIVATE GTest::gtest_main
   PRIVATE gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
   PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
   PRIVATE
diff --git a/tests/laser/CMakeLists.txt b/tests/laser/CMakeLists.txt
index b59baf3..ce50f92 100644
--- a/tests/laser/CMakeLists.txt
+++ b/tests/laser/CMakeLists.txt
@@ -1,6 +1,6 @@
 add_executable(LaserTest LaserTest.cc)
 target_link_libraries(LaserTest
-  gtest_main
+  GTest::gtest_main
   gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
   gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
   ${YARP_LIBRARIES}