diff --git a/rcljava_common/cmake/Modules/FindJavaExtra.cmake b/rcljava_common/cmake/Modules/FindJavaExtra.cmake
index 4bc65e01..175c3125 100644
--- a/rcljava_common/cmake/Modules/FindJavaExtra.cmake
+++ b/rcljava_common/cmake/Modules/FindJavaExtra.cmake
@@ -39,10 +39,61 @@ function(add_junit_tests TARGET_NAME)
   endif()
 
   find_jar(JUNIT_JAR NAMES junit4)
-  if(NOT ${JUNIT_JAR})
+  if(${JUNIT_JAR})
+    ament_export_jars(${JUNIT_JAR})
+    set(${TARGET_NAME}_jar_dependencies "${JUNIT_JAR}")
+  else()
     find_jar(JUNIT_JAR NAMES junit VERSIONS 4)
+    if(${JUNIT_JAR})
+      ament_export_jars(${JUNIT_JAR})
+    else()
+      set(junit_version "4.12")
+
+      set(junit_sha256 "59721f0805e223d84b90677887d9ff567dc534d7c502ca903c0c2b17f05c116a")
+
+      set(junit_url "http://central.maven.org/maven2/junit/junit/${junit_version}/junit-${junit_version}.jar")
+
+      set(junit_jar_path "${CMAKE_CURRENT_BINARY_DIR}/jars/junit-${junit_version}.jar")
+
+      file(DOWNLOAD ${junit_url} ${junit_jar_path} EXPECTED_HASH SHA256=${junit_sha256})
+
+      install(FILES
+        ${junit_jar_path}
+        DESTINATION
+        "share/${PROJECT_NAME}/java")
+
+      ament_export_jars("share/${PROJECT_NAME}/java/junit-${junit_version}.jar")
+
+      set(JUNIT_JAR "${junit_jar_path}")
+    endif()
+  endif()
+
+  find_jar(HAMCREST_JAR NAMES hamcrest-all)
+  if(${HAMCREST_JAR})
+    ament_export_jars(${HAMCREST_JAR})
+  else()
+    set(hamcrest_version "1.3")
+
+    set(hamcrest_sha256 "4877670629ab96f34f5f90ab283125fcd9acb7e683e66319a68be6eb2cca60de")
+
+    set(hamcrest_url "http://central.maven.org/maven2/org/hamcrest/hamcrest-all/${hamcrest_version}/hamcrest-all-${hamcrest_version}.jar")
+
+    set(hamcrest_jar_path "${CMAKE_CURRENT_BINARY_DIR}/jars/hamcrest-all-${hamcrest_version}.jar")
+
+    file(DOWNLOAD ${hamcrest_url} ${hamcrest_jar_path} EXPECTED_HASH SHA256=${hamcrest_sha256})
+
+    install(FILES
+      ${hamcrest_jar_path}
+      DESTINATION
+      "share/${PROJECT_NAME}/java")
+
+    ament_export_jars("share/${PROJECT_NAME}/java/hamcrest-all-${hamcrest_version}.jar")
+
+    set(HAMCREST_JAR "${hamcrest_jar_path}")
   endif()
 
+  set(${TARGET_NAME}_jar_dependencies "${JUNIT_JAR}${SEPARATOR}${HAMCREST_JAR}")
+
   add_jar("${TARGET_NAME}_jar"
     "${_source_files}"
     OUTPUT_NAME
@@ -50,6 +101,7 @@ function(add_junit_tests TARGET_NAME)
     INCLUDE_JARS
     "${_add_junit_tests_INCLUDE_JARS}"
     "${JUNIT_JAR}"
+    "${HAMCREST_JAR}"
   )
 
   get_property(_jar_test_file
@@ -57,18 +109,18 @@ function(add_junit_tests TARGET_NAME)
     PROPERTY "JAR_FILE"
   )
 
-  set(${TARGET_NAME}_jar_dependencies "${JUNIT_JAR}${SEPARATOR}${_jar_test_file}")
+  set(${TARGET_NAME}_jar_dependencies "${${TARGET_NAME}_jar_dependencies}${SEPARATOR}${_jar_test_file}")
   foreach(_jar_dep ${_add_junit_tests_INCLUDE_JARS})
     set(${TARGET_NAME}_jar_dependencies "${${TARGET_NAME}_jar_dependencies}${SEPARATOR}${_jar_dep}")
   endforeach()
 
   string(REPLACE ";" ${SEPARATOR} _library_paths "${_add_junit_tests_LIBRARY_PATHS}")
 
-  add_test(NAME ${TARGET_NAME}
+  ament_add_test(
+    ${TARGET_NAME}
+    GENERATE_RESULT_FOR_RETURN_CODE_ZERO
     COMMAND ${Java_JAVA_EXECUTABLE}
     ${JVMARGS} -classpath ${${TARGET_NAME}_jar_dependencies} -Djava.library.path=${_library_paths}
     org.junit.runner.JUnitCore ${_add_junit_tests_TESTS}
   )
-
-#  add_dependencies(${TARGET_NAME} ${TARGET_NAME}_jar)
 endfunction()