diff --git a/tesseract_motion_planners/simple/test/CMakeLists.txt b/tesseract_motion_planners/simple/test/CMakeLists.txt
index f94c1e5ea6..dc7d7f4d3f 100644
--- a/tesseract_motion_planners/simple/test/CMakeLists.txt
+++ b/tesseract_motion_planners/simple/test/CMakeLists.txt
@@ -1,60 +1,24 @@
 find_package(tesseract_command_language REQUIRED)
 
-# SimplePlanner Tests
-add_executable(${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_plan_unit
-               simple_planner_fixed_size_assign_no_ik_plan_unit.cpp)
-target_link_libraries(${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_plan_unit PRIVATE GTest::GTest GTest::Main
-                                                                                               ${PROJECT_NAME}_simple)
-target_compile_options(${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_plan_unit
-                       PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE} ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
-target_compile_definitions(${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_plan_unit
-                           PRIVATE ${TESSERACT_COMPILE_DEFINITIONS})
-target_clang_tidy(${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_plan_unit
-                  ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
-target_cxx_version(${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_plan_unit PRIVATE
-                   VERSION ${TESSERACT_CXX_VERSION})
-target_code_coverage(
-  ${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_plan_unit
-  PRIVATE
-  ALL
-  EXCLUDE ${COVERAGE_EXCLUDE}
-  ENABLE ${TESSERACT_ENABLE_CODE_COVERAGE})
-add_gtest_discover_tests(${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_plan_unit)
-add_dependencies(${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_plan_unit ${PROJECT_NAME}_simple)
-add_dependencies(run_tests ${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_plan_unit)
+macro(add_gtest test_name test_file)
+  add_executable(${test_name} ${test_file})
+  target_link_libraries(${test_name} PRIVATE GTest::GTest GTest::Main ${PROJECT_NAME}_simple)
+  target_compile_options(${test_name} PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE} ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
+  target_compile_definitions(${test_name} PRIVATE ${TESSERACT_COMPILE_DEFINITIONS})
+  target_clang_tidy(${test_name} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
+  target_cxx_version(${test_name} PRIVATE VERSION ${TESSERACT_CXX_VERSION})
+  target_code_coverage(
+    ${test_name}
+    PRIVATE
+    ALL
+    EXCLUDE ${COVERAGE_EXCLUDE}
+    ENABLE ${TESSERACT_ENABLE_CODE_COVERAGE})
+  add_gtest_discover_tests(${test_name})
+  add_dependencies(${test_name} ${PROJECT_NAME}_simple)
+  add_dependencies(run_tests ${test_name})
+endmacro()
 
-add_executable(${PROJECT_NAME}_simple_planner_fixed_size_plan_unit simple_planner_fixed_size_plan_unit.cpp)
-target_link_libraries(${PROJECT_NAME}_simple_planner_fixed_size_plan_unit PRIVATE GTest::GTest GTest::Main
-                                                                                  ${PROJECT_NAME}_simple)
-target_compile_options(${PROJECT_NAME}_simple_planner_fixed_size_plan_unit PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE}
-                                                                                   ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
-target_compile_definitions(${PROJECT_NAME}_simple_planner_fixed_size_plan_unit PRIVATE ${TESSERACT_COMPILE_DEFINITIONS})
-target_clang_tidy(${PROJECT_NAME}_simple_planner_fixed_size_plan_unit ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
-target_cxx_version(${PROJECT_NAME}_simple_planner_fixed_size_plan_unit PRIVATE VERSION ${TESSERACT_CXX_VERSION})
-target_code_coverage(
-  ${PROJECT_NAME}_simple_planner_fixed_size_plan_unit
-  PRIVATE
-  ALL
-  EXCLUDE ${COVERAGE_EXCLUDE}
-  ENABLE ${TESSERACT_ENABLE_CODE_COVERAGE})
-add_gtest_discover_tests(${PROJECT_NAME}_simple_planner_fixed_size_plan_unit)
-add_dependencies(${PROJECT_NAME}_simple_planner_fixed_size_plan_unit ${PROJECT_NAME}_simple)
-add_dependencies(run_tests ${PROJECT_NAME}_simple_planner_fixed_size_plan_unit)
-
-add_executable(${PROJECT_NAME}_simple_planner_lvs_plan_unit simple_planner_lvs_plan_unit.cpp)
-target_link_libraries(${PROJECT_NAME}_simple_planner_lvs_plan_unit PRIVATE GTest::GTest GTest::Main
-                                                                           ${PROJECT_NAME}_simple)
-target_compile_options(${PROJECT_NAME}_simple_planner_lvs_plan_unit PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE}
-                                                                            ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
-target_compile_definitions(${PROJECT_NAME}_simple_planner_lvs_plan_unit PRIVATE ${TESSERACT_COMPILE_DEFINITIONS})
-target_clang_tidy(${PROJECT_NAME}_simple_planner_lvs_plan_unit ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
-target_cxx_version(${PROJECT_NAME}_simple_planner_lvs_plan_unit PRIVATE VERSION ${TESSERACT_CXX_VERSION})
-target_code_coverage(
-  ${PROJECT_NAME}_simple_planner_lvs_plan_unit
-  PRIVATE
-  ALL
-  EXCLUDE ${COVERAGE_EXCLUDE}
-  ENABLE ${TESSERACT_ENABLE_CODE_COVERAGE})
-add_gtest_discover_tests(${PROJECT_NAME}_simple_planner_lvs_plan_unit)
-add_dependencies(${PROJECT_NAME}_simple_planner_lvs_plan_unit ${PROJECT_NAME}_simple)
-add_dependencies(run_tests ${PROJECT_NAME}_simple_planner_lvs_plan_unit)
+add_gtest(${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_plan_unit
+          simple_planner_fixed_size_assign_no_ik_plan_unit.cpp)
+add_gtest(${PROJECT_NAME}_simple_planner_fixed_size_plan_unit simple_planner_fixed_size_plan_unit.cpp)
+add_gtest(${PROJECT_NAME}_simple_planner_lvs_plan_unit simple_planner_lvs_plan_unit.cpp)