diff --git a/.ci/azure-pipelines/build/macos.yaml b/.ci/azure-pipelines/build/macos.yaml
index 1d964a1d1e5..6055c69153b 100644
--- a/.ci/azure-pipelines/build/macos.yaml
+++ b/.ci/azure-pipelines/build/macos.yaml
@@ -4,10 +4,7 @@ steps:
     fetchDepth: 10
   - script: |
       brew install cmake
-      brew install pkg-config boost eigen flann nanoflann glew libusb qhull vtk glew freeglut qt libpcap libomp suite-sparse zlib google-benchmark cjson
-      brew install brewsci/science/openni
-      git clone https://github.com/abseil/googletest.git $GOOGLE_TEST_DIR # the official endpoint changed to abseil/googletest
-      cd $GOOGLE_TEST_DIR && git checkout release-1.8.1
+      brew install pkg-config boost eigen flann nanoflann glew libusb qhull vtk glew freeglut qt libpcap libomp suite-sparse zlib google-benchmark cjson googletest
     displayName: 'Install Dependencies'
   - script: |
       mkdir $BUILD_DIR && cd $BUILD_DIR
@@ -15,8 +12,6 @@ steps:
         -DCMAKE_BUILD_TYPE="MinSizeRel" \
         -DCMAKE_OSX_SYSROOT="/Library/Developer/CommandLineTools/SDKs/MacOSX$(OSX_VERSION).sdk" \
         -DCMAKE_CXX_FLAGS="$CMAKE_CXX_FLAGS" \
-        -DGTEST_SRC_DIR="$GOOGLE_TEST_DIR/googletest" \
-        -DGTEST_INCLUDE_DIR="$GOOGLE_TEST_DIR/googletest/include" \
         -DPCL_ONLY_CORE_POINT_TYPES=ON \
         -DBUILD_surface_on_nurbs=ON -DUSE_UMFPACK=ON \
         -DBUILD_simulation=ON \
diff --git a/cmake/Modules/FindGTestSource.cmake b/cmake/Modules/FindGTestSource.cmake
deleted file mode 100644
index d5e14b3580c..00000000000
--- a/cmake/Modules/FindGTestSource.cmake
+++ /dev/null
@@ -1,41 +0,0 @@
-###############################################################################
-# Find GTest
-#
-# This sets the following variables:
-# GTEST_FOUND - True if GTest was found.
-# GTEST_INCLUDE_DIRS - Directories containing the GTest include files.
-# GTEST_SRC_DIR - Directories containing the GTest source files.
-
-if(CMAKE_SYSTEM_NAME STREQUAL Linux)
-    set(CMAKE_INCLUDE_PATH ${CMAKE_INCLUDE_PATH} /usr /usr/local)
-endif()
-if(APPLE)
-  list(APPEND CMAKE_INCLUDE_PATH /opt/local)
-  set(CMAKE_FIND_FRAMEWORK NEVER)
-endif()
-
-find_path(GTEST_INCLUDE_DIR gtest/gtest.h
-    PATHS "$ENV{PROGRAMFILES}/gtest" "$ENV{PROGRAMW6432}/gtest"
-    PATHS "$ENV{PROGRAMFILES}/gtest-1.7.0" "$ENV{PROGRAMW6432}/gtest-1.7.0"
-    PATH_SUFFIXES gtest include/gtest include)
-
-find_path(GTEST_SRC_DIR src/gtest-all.cc
-    PATHS "$ENV{PROGRAMFILES}/gtest" "$ENV{PROGRAMW6432}/gtest"
-    PATHS "$ENV{PROGRAMFILES}/gtest-1.7.0" "$ENV{PROGRAMW6432}/gtest-1.7.0"
-    PATH /usr/src/googletest
-    PATH /usr/src/googletest/googletest
-    PATH /usr/src/gtest
-    PATH_SUFFIXES gtest src/gtest googletest/googletest)
-
-set(GTEST_INCLUDE_DIRS ${GTEST_INCLUDE_DIR})
-set(CMAKE_FIND_FRAMEWORK)
-
-include(FindPackageHandleStandardArgs)
-find_package_handle_standard_args(GTestSource DEFAULT_MSG GTEST_INCLUDE_DIR GTEST_SRC_DIR)
-set(GTEST_FOUND ${GTestSource_FOUND})
-
-mark_as_advanced(GTEST_INCLUDE_DIR GTEST_SRC_DIR)
-
-if(GTEST_FOUND)
-  message(STATUS "GTest found (include: ${GTEST_INCLUDE_DIRS}, src: ${GTEST_SRC_DIR})")
-endif()
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 07bc787ddf6..6dc34e47a46 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -8,11 +8,11 @@ if(NOT build)
   return()
 endif()
 
-find_package(GTestSource REQUIRED)
-include_directories(SYSTEM ${GTEST_INCLUDE_DIRS} ${GTEST_SRC_DIR})
+find_package(GTest REQUIRED)
 
-add_library(pcl_gtest STATIC ${GTEST_SRC_DIR}/src/gtest-all.cc)
-target_include_directories(pcl_gtest PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/include)
+add_library(pcl_gtest INTERFACE)
+target_link_libraries(pcl_gtest INTERFACE GTest::gtest)
+target_include_directories(pcl_gtest INTERFACE ${CMAKE_CURRENT_SOURCE_DIR}/include)
 
 enable_testing()