diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 3fa9269b031c95c9d5bc1a679d09989221f400bc..5850e2db6763d74e6385f16417ed48102091ba5b 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -1,10 +1,13 @@
 # Retrieve googletest from github & compile
 add_subdirectory(gtest)
 
-################# ADD YOUR TESTS BELOW ####################
+############# USE THIS TEST AS AN EXAMPLE #################
 #                                                         #
-#           ==== IN ALPHABETICAL ORDER! ====              #
+# Create a specific test executable for gtest_example     #
+# wolf_add_gtest(gtest_example gtest_example.cpp)         #
 #                                                         #
+###########################################################
+
 wolf_add_gtest(gtest_capture_inertial_kinematics gtest_capture_inertial_kinematics.cpp)
 
 wolf_add_gtest(gtest_capture_leg_odom gtest_capture_leg_odom.cpp)
diff --git a/test/gtest/CMakeLists.txt b/test/gtest/CMakeLists.txt
index 9450a2925657ac2d909dde56a6496bec2f60d93e..8349cbda987c121740fb74fbaa615f43ce9fc3e8 100644
--- a/test/gtest/CMakeLists.txt
+++ b/test/gtest/CMakeLists.txt
@@ -5,15 +5,7 @@ if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
   include(ExternalProject)
 
   set(GTEST_FORCE_SHARED_CRT ON)
-  set(GTEST_DISABLE_PTHREADS OFF)
-
-  # For some reason I need to disable PTHREADS
-  # with g++ (Ubuntu 4.9.3-8ubuntu2~14.04) 4.9.3
-  # This is a known issue for MinGW :
-  # https://github.com/google/shaderc/pull/174
-  #if(MINGW)
-  #    set(GTEST_DISABLE_PTHREADS ON)
-  #endif()
+  set(GTEST_DISABLE_PTHREADS ON) # without this in ubuntu 18.04 we get linking errors
 
   # Download GoogleTest
   ExternalProject_Add(googletest
@@ -63,7 +55,13 @@ else()
     GIT_REPOSITORY https://github.com/google/googletest.git 
     GIT_TAG main)
 
-  FetchContent_MakeAvailable(googletest)
+  #FetchContent_MakeAvailable(googletest)
+  # Disable installation of googletest: https://stackoverflow.com/questions/65527126/disable-install-for-fetchcontent
+  FetchContent_GetProperties(googletest)
+  if(NOT googletest_POPULATED)
+    FetchContent_Populate(googletest)
+    add_subdirectory(${googletest_SOURCE_DIR} ${googletest_BINARY_DIR} EXCLUDE_FROM_ALL)
+  endif()
     
 endif()
   
@@ -71,10 +69,10 @@ function(wolf_add_gtest target)
   add_executable(${target} ${ARGN})
   if(${CMAKE_VERSION} VERSION_LESS "3.11.0") 
     add_dependencies(${target} libgtest)
-    target_link_libraries(${target} libgtest ${PLUGIN_NAME})
+    target_link_libraries(${target} PUBLIC libgtest ${PLUGIN_NAME})
     target_include_directories(${target} PUBLIC ${GTEST_INCLUDE_DIRS})
   else()
-    target_link_libraries(${target} gtest_main ${PLUGIN_NAME})
+    target_link_libraries(${target} PUBLIC gtest_main ${PLUGIN_NAME})
   endif()
   add_test(NAME ${target} COMMAND ${target})
 endfunction()