diff --git a/controller_manager/CMakeLists.txt b/controller_manager/CMakeLists.txt
index e97964a59f..fea7f9bd6d 100644
--- a/controller_manager/CMakeLists.txt
+++ b/controller_manager/CMakeLists.txt
@@ -171,6 +171,10 @@ if(BUILD_TESTING)
     test/test_spawner_unspawner.cpp
     TIMEOUT 120
   )
+  target_include_directories(test_spawner_unspawner PRIVATE include)
+  target_link_libraries(test_spawner_unspawner ${PROJECT_NAME} test_controller)
+  ament_target_dependencies(test_spawner_unspawner ros2_control_test_assets)
+  
   ament_add_gmock(test_hardware_spawner
     test/test_hardware_spawner.cpp
     TIMEOUT 120