diff --git a/map/map_tf_generator/CMakeLists.txt b/map/map_tf_generator/CMakeLists.txt
index 4e6390e0cacb6..5b868ecb1ce8f 100644
--- a/map/map_tf_generator/CMakeLists.txt
+++ b/map/map_tf_generator/CMakeLists.txt
@@ -31,6 +31,23 @@ rclcpp_components_register_node(vector_map_tf_generator_node
   EXECUTABLE vector_map_tf_generator
 )
 
+if(BUILD_TESTING)
+  function(add_testcase filepath)
+    get_filename_component(filename ${filepath} NAME)
+    string(REGEX REPLACE ".cpp" "" test_name ${filename})
+
+    ament_add_gmock(${test_name} ${filepath})
+    target_include_directories(${test_name} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/include)
+    ament_target_dependencies(${test_name} ${${PROJECT_NAME}_FOUND_BUILD_DEPENDS})
+  endfunction()
+
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+
+  add_testcase(test/test_uniform_random.cpp)
+endif()
+
+
 if(BUILD_TESTING)
   function(add_testcase filepath)
     get_filename_component(filename ${filepath} NAME)