diff --git a/moveit_core/planning_scene/test/test_multi_threaded.cpp b/moveit_core/planning_scene/test/test_multi_threaded.cpp
index ac6d53b137..acc9f1ce2f 100644
--- a/moveit_core/planning_scene/test/test_multi_threaded.cpp
+++ b/moveit_core/planning_scene/test/test_multi_threaded.cpp
@@ -107,7 +107,13 @@ TEST_P(CollisionDetectorTests, Threaded)
 
   collision_detection::CollisionPluginCache loader;
   if (!loader.activate(plugin_name, planning_scene_, true))
+  {
+#if defined(GTEST_SKIP_)
     GTEST_SKIP_("Failed to load collision plugin");
+#else
+    return;
+#endif
+  }
 
   for (unsigned int i = 0; i < THREADS; ++i)
   {
@@ -132,6 +138,10 @@ TEST_P(CollisionDetectorTests, Threaded)
   planning_scene_.reset();
 }
 
+#ifndef INSTANTIATE_TEST_SUITE_P  // prior to gtest 1.10
+#define INSTANTIATE_TEST_SUITE_P(...) INSTANTIATE_TEST_CASE_P(__VA_ARGS__)
+#endif
+
 // instantiate parameterized tests for common collision plugins
 INSTANTIATE_TEST_SUITE_P(PluginTests, CollisionDetectorTests, testing::Values("FCL", "Bullet"));
 
diff --git a/moveit_core/planning_scene/test/test_planning_scene.cpp b/moveit_core/planning_scene/test/test_planning_scene.cpp
index 6f6c74515f..2afaa788fb 100644
--- a/moveit_core/planning_scene/test/test_planning_scene.cpp
+++ b/moveit_core/planning_scene/test/test_planning_scene.cpp
@@ -236,7 +236,13 @@ TEST_P(CollisionDetectorTests, ClearDiff)
 
   collision_detection::CollisionPluginCache loader;
   if (!loader.activate(plugin_name, parent, true))
+  {
+#if defined(GTEST_SKIP_)
     GTEST_SKIP_("Failed to load collision plugin");
+#else
+    return;
+#endif
+  }
 
   // create child scene
   planning_scene::PlanningScenePtr child = parent->diff();
@@ -302,6 +308,11 @@ TEST_P(CollisionDetectorTests, ClearDiff)
   child.reset();
   parent.reset();
 }
+
+#ifndef INSTANTIATE_TEST_SUITE_P  // prior to gtest 1.10
+#define INSTANTIATE_TEST_SUITE_P(...) INSTANTIATE_TEST_CASE_P(__VA_ARGS__)
+#endif
+
 // instantiate parameterized tests for common collision plugins
 INSTANTIATE_TEST_SUITE_P(PluginTests, CollisionDetectorTests, testing::Values("FCL", "Bullet"));