diff --git a/CMakeLists.txt b/CMakeLists.txt
index e37602ef1..4a52bb3b5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -54,9 +54,6 @@ endif()
 option(GTSAM_BUILD_SHARED_LIBRARY        "Enable/Disable building of a shared version of gtsam" ON)
 option(GTSAM_BUILD_STATIC_LIBRARY        "Enable/Disable building of a static version of gtsam" OFF)
 option(GTSAM_USE_QUATERNIONS             "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices. If enable, Rot3::EXPMAP is enforced by default." OFF)
-if(NOT MSVC)
-  option(GTSAM_BUILD_CONVENIENCE_LIBRARIES "Enable/Disable use of convenience libraries for faster development rebuilds, but slower install" OFF)
-endif()
 option(GTSAM_POSE3_EXPMAP 			 	 "Enable/Disable using Pose3::EXPMAP as the default mode. If disabled, Pose3::FIRST_ORDER will be used." OFF)
 option(GTSAM_ROT3_EXPMAP 			 	 "Ignore if GTSAM_USE_QUATERNIONS is OFF (Rot3::EXPMAP by default). Otherwise, enable Rot3::EXPMAP, or if disabled, use Rot3::CAYLEY." OFF)
 option(GTSAM_ENABLE_CONSISTENCY_CHECKS   "Enable/Disable expensive consistency checks"       OFF) 
@@ -306,9 +303,6 @@ if (DOXYGEN_FOUND)
 endif()
 print_config_flag(${GTSAM_BUILD_SHARED_LIBRARY}        "Build shared GTSAM Library     ")
 print_config_flag(${GTSAM_BUILD_STATIC_LIBRARY}        "Build static GTSAM Library     ")
-if(NOT MSVC)
-	print_config_flag(${GTSAM_BUILD_CONVENIENCE_LIBRARIES} "Build Convenience Libraries    ")
-endif()
 print_config_flag(${GTSAM_BUILD_TYPE_POSTFIXES}        "Put build type in library name ")
 if(GTSAM_UNSTABLE_AVAILABLE)
     print_config_flag(${GTSAM_BUILD_UNSTABLE}           "Build libgtsam_unstable        ")
diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt
index 56146317e..1f53911da 100644
--- a/gtsam/CMakeLists.txt
+++ b/gtsam/CMakeLists.txt
@@ -25,10 +25,6 @@ set (3rdparty_srcs
  ${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/CCOLAMD/Source/ccolamd_global.c
  ${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/UFconfig/UFconfig.c)
 gtsam_assign_source_folders("${3rdparty_srcs}") # Create MSVC structure
-if (GTSAM_BUILD_CONVENIENCE_LIBRARIES)
-    message(STATUS "Building Convenience Library: ccolamd")
-    add_library(ccolamd STATIC ${3rdparty_srcs})
-endif()
 
 # To exclude a source from the library build (in any subfolder)
 # Add the full name to this list, as in the following example
@@ -61,10 +57,6 @@ foreach(subdir ${gtsam_subdirs})
     set(subdir_srcs ${subdir_cpp_srcs} ${subdir_headers}) # Include header files so they show up in Visual Studio
     gtsam_assign_source_folders("${subdir_srcs}") # Create MSVC structure
     set(${subdir}_srcs ${subdir_srcs})
-    if (GTSAM_BUILD_CONVENIENCE_LIBRARIES AND (subdir_cpp_srcs)) # Only build convenience library if sources exist
-        message(STATUS "Building Convenience Library: ${subdir}")
-        add_library(${subdir} STATIC ${subdir_srcs})
-    endif()
 
     # Build local library and tests
     message(STATUS "Building ${subdir}") 
diff --git a/gtsam/base/CMakeLists.txt b/gtsam/base/CMakeLists.txt
index a1f50d61d..a77c5cece 100644
--- a/gtsam/base/CMakeLists.txt
+++ b/gtsam/base/CMakeLists.txt
@@ -2,11 +2,6 @@
 file(GLOB base_headers "*.h")
 install(FILES ${base_headers} DESTINATION include/gtsam/base)
 
-# Components to link tests in this subfolder against
-set(base_local_libs
-    base
-)
-
 # Files to exclude from compilation of tests and timing scripts
 set(base_excluded_files
 # "${CMAKE_CURRENT_SOURCE_DIR}/tests/testTypedDiscreteFactor.cpp" # Example of excluding a test
@@ -15,11 +10,11 @@ set(base_excluded_files
 
 # Build tests
 if (GTSAM_BUILD_TESTS)
-    gtsam_add_subdir_tests(base "${base_local_libs}" "${gtsam-default}" "${base_excluded_files}") 
+    gtsam_add_subdir_tests(base "${gtsam-default}" "${gtsam-default}" "${base_excluded_files}") 
 endif(GTSAM_BUILD_TESTS)
 
 # Build timing scripts
 if (GTSAM_BUILD_TIMING)
-    gtsam_add_subdir_timing(base "${base_local_libs}" "${gtsam-default}" "${base_excluded_files}") 
+    gtsam_add_subdir_timing(base "${gtsam-default}" "${gtsam-default}" "${base_excluded_files}") 
 endif(GTSAM_BUILD_TIMING)
 
diff --git a/gtsam/discrete/CMakeLists.txt b/gtsam/discrete/CMakeLists.txt
index ac43359d2..4535868dd 100644
--- a/gtsam/discrete/CMakeLists.txt
+++ b/gtsam/discrete/CMakeLists.txt
@@ -4,20 +4,12 @@ file(GLOB discrete_headers "*.h")
 # FIXME: exclude headers
 install(FILES ${discrete_headers} DESTINATION include/gtsam/discrete)
 
-# Set up library dependencies
-set (discrete_local_libs 
-   discrete
-   inference
-   base
-   ccolamd
-)
-
 # Exclude tests that don't work
 set (discrete_excluded_tests "")
 
 # Add all tests
 if (GTSAM_BUILD_TESTS)
-    gtsam_add_subdir_tests(discrete "${discrete_local_libs}" "${gtsam-default}" "${discrete_excluded_tests}")
+    gtsam_add_subdir_tests(discrete "${gtsam-default}" "${gtsam-default}" "${discrete_excluded_tests}")
 endif()
 
 # Build timing scripts
diff --git a/gtsam/geometry/CMakeLists.txt b/gtsam/geometry/CMakeLists.txt
index e5acb3c21..b659d8314 100644
--- a/gtsam/geometry/CMakeLists.txt
+++ b/gtsam/geometry/CMakeLists.txt
@@ -2,12 +2,6 @@
 file(GLOB geometry_headers "*.h")
 install(FILES ${geometry_headers} DESTINATION include/gtsam/geometry)
 
-# Components to link tests in this subfolder against
-set(geometry_local_libs
-    base
-    geometry
-)
-
 # Files to exclude from compilation of tests and timing scripts
 set(geometry_excluded_files
 # "${CMAKE_CURRENT_SOURCE_DIR}/tests/testTypedDiscreteFactor.cpp" # Example of excluding a test     
@@ -16,11 +10,11 @@ set(geometry_excluded_files
 
 # Build tests
 if (GTSAM_BUILD_TESTS)
-    gtsam_add_subdir_tests(geometry "${geometry_local_libs}" "${gtsam-default}" "${geometry_excluded_files}") 
+    gtsam_add_subdir_tests(geometry "${gtsam-default}" "${gtsam-default}" "${geometry_excluded_files}") 
 endif(GTSAM_BUILD_TESTS)
 
 # Build timing scripts
 if (GTSAM_BUILD_TIMING)
-    gtsam_add_subdir_timing(geometry "${geometry_local_libs}" "${gtsam-default}" "${geometry_excluded_files}") 
+    gtsam_add_subdir_timing(geometry "${gtsam-default}" "${gtsam-default}" "${geometry_excluded_files}") 
 endif(GTSAM_BUILD_TIMING)
 
diff --git a/gtsam/inference/CMakeLists.txt b/gtsam/inference/CMakeLists.txt
index f88abf463..8e63eecf8 100644
--- a/gtsam/inference/CMakeLists.txt
+++ b/gtsam/inference/CMakeLists.txt
@@ -2,14 +2,6 @@
 file(GLOB inference_headers "*.h")
 install(FILES ${inference_headers} DESTINATION include/gtsam/inference)
 
-# Components to link tests in this subfolder against
-set(inference_local_libs
-   inference
-   geometry
-   base
-   ccolamd
-)
-
 # Files to exclude from compilation of tests and timing scripts
 set(inference_excluded_files
 # "${CMAKE_CURRENT_SOURCE_DIR}/tests/testTypedDiscreteFactor.cpp" # Example of excluding a test     
@@ -18,11 +10,11 @@ set(inference_excluded_files
 
 # Build tests
 if (GTSAM_BUILD_TESTS)
-    gtsam_add_subdir_tests(inference "${inference_local_libs}" "${gtsam-default}" "${inference_excluded_files}") 
+    gtsam_add_subdir_tests(inference "${gtsam-default}" "${gtsam-default}" "${inference_excluded_files}") 
 endif(GTSAM_BUILD_TESTS)
 
 # Build timing scripts
 if (GTSAM_BUILD_TIMING)
-    gtsam_add_subdir_timing(inference "${inference_local_libs}" "${gtsam-default}" "${inference_excluded_files}") 
+    gtsam_add_subdir_timing(inference "${gtsam-default}" "${gtsam-default}" "${inference_excluded_files}") 
 endif(GTSAM_BUILD_TIMING)
 
diff --git a/gtsam/linear/CMakeLists.txt b/gtsam/linear/CMakeLists.txt
index 744151a8b..aa1be1127 100644
--- a/gtsam/linear/CMakeLists.txt
+++ b/gtsam/linear/CMakeLists.txt
@@ -2,15 +2,6 @@
 file(GLOB linear_headers "*.h")
 install(FILES ${linear_headers} DESTINATION include/gtsam/linear)
 
-# Components to link tests in this subfolder against
-set(linear_local_libs
-   linear
-   inference
-   geometry
-   base
-   ccolamd
-)
-
 # Files to exclude from compilation of tests and timing scripts
 set(linear_excluded_files
 # "${CMAKE_CURRENT_SOURCE_DIR}/tests/testTypedDiscreteFactor.cpp" # Example of excluding a test
@@ -19,7 +10,7 @@ set(linear_excluded_files
 
 # Build tests
 if (GTSAM_BUILD_TESTS)
-    gtsam_add_subdir_tests(linear "${linear_local_libs}" "${gtsam-default}" "${linear_excluded_files}") 
+    gtsam_add_subdir_tests(linear "${gtsam-default}" "${gtsam-default}" "${linear_excluded_files}") 
 endif(GTSAM_BUILD_TESTS)
 
 if(MSVC)
@@ -29,5 +20,5 @@ endif()
 
 # Build timing scripts
 if (GTSAM_BUILD_TIMING)
-    gtsam_add_subdir_timing(linear "${linear_local_libs}" "${gtsam-default}" "${linear_excluded_files}") 
+    gtsam_add_subdir_timing(linear "${gtsam-default}" "${gtsam-default}" "${linear_excluded_files}") 
 endif(GTSAM_BUILD_TIMING)
diff --git a/gtsam/navigation/CMakeLists.txt b/gtsam/navigation/CMakeLists.txt
index da35ea651..f90f25f00 100644
--- a/gtsam/navigation/CMakeLists.txt
+++ b/gtsam/navigation/CMakeLists.txt
@@ -2,25 +2,15 @@
 file(GLOB navigation_headers "*.h")
 install(FILES ${navigation_headers} DESTINATION include/gtsam/navigation)
 
-# Components to link tests in this subfolder against
-set(navigation_local_libs 
-   nonlinear
-   linear
-   inference
-   geometry
-   base
-   ccolamd
-)
-
 # Exclude tests that don't work
 set (navigation_excluded_tests "")
 
 # Add all tests
 if (GTSAM_BUILD_TESTS)
-	gtsam_add_subdir_tests(navigation "${navigation_local_libs}" "${gtsam-default}" "${navigation_excluded_tests}") 
+	gtsam_add_subdir_tests(navigation "${gtsam-default}" "${gtsam-default}" "${navigation_excluded_tests}") 
 endif()
 
 # Build timing scripts
 if (GTSAM_BUILD_TIMING)
-    gtsam_add_subdir_timing(navigation "${navigation_local_libs}" "${gtsam-default}" "${navigation_excluded_files}") 
+    gtsam_add_subdir_timing(navigation "${gtsam-default}" "${gtsam-default}" "${navigation_excluded_files}") 
 endif(GTSAM_BUILD_TIMING)
diff --git a/gtsam/nonlinear/CMakeLists.txt b/gtsam/nonlinear/CMakeLists.txt
index 4dcb5e8d8..3e2fdb689 100644
--- a/gtsam/nonlinear/CMakeLists.txt
+++ b/gtsam/nonlinear/CMakeLists.txt
@@ -2,16 +2,6 @@
 file(GLOB nonlinear_headers "*.h")
 install(FILES ${nonlinear_headers} DESTINATION include/gtsam/nonlinear)
 
-# Components to link tests in this subfolder against
-set(nonlinear_local_libs
-   nonlinear
-   linear
-   inference
-   geometry
-   base
-   ccolamd
-)
-
 # Files to exclude from compilation of tests and timing scripts
 set(nonlinear_excluded_files
 # "${CMAKE_CURRENT_SOURCE_DIR}/tests/testTypedDiscreteFactor.cpp" # Example of excluding a test     
@@ -20,11 +10,11 @@ set(nonlinear_excluded_files
 
 # Build tests
 if (GTSAM_BUILD_TESTS)
-    gtsam_add_subdir_tests(nonlinear "${nonlinear_local_libs}" "${gtsam-default}" "${nonlinear_excluded_files}") 
+    gtsam_add_subdir_tests(nonlinear "${gtsam-default}" "${gtsam-default}" "${nonlinear_excluded_files}") 
 endif(GTSAM_BUILD_TESTS)
 
 # Build timing scripts
 if (GTSAM_BUILD_TIMING)
-    gtsam_add_subdir_timing(nonlinear "${nonlinear_local_libs}" "${gtsam-default}" "${nonlinear_excluded_files}") 
+    gtsam_add_subdir_timing(nonlinear "${gtsam-default}" "${gtsam-default}" "${nonlinear_excluded_files}") 
 endif(GTSAM_BUILD_TIMING)
 
diff --git a/gtsam/slam/CMakeLists.txt b/gtsam/slam/CMakeLists.txt
index c9497f167..53860d913 100644
--- a/gtsam/slam/CMakeLists.txt
+++ b/gtsam/slam/CMakeLists.txt
@@ -7,17 +7,6 @@ file(GLOB slam_headers "*.h")
 list(REMOVE_ITEM slam_headers ${slam_excluded_headers})
 install(FILES ${slam_headers} DESTINATION include/gtsam/slam)
 
-# Components to link tests in this subfolder against
-set(slam_local_libs
-   slam
-   nonlinear
-   linear
-   inference
-   geometry
-   base
-   ccolamd
-)
-
 # Files to exclude from compilation of tests and timing scripts
 set(slam_excluded_files
  "${CMAKE_CURRENT_SOURCE_DIR}/tests/testSerialization.cpp"      
@@ -26,10 +15,10 @@ set(slam_excluded_files
 
 # Build tests
 if (GTSAM_BUILD_TESTS)
-    gtsam_add_subdir_tests(slam "${slam_local_libs}" "${gtsam-default}" "${slam_excluded_files}") 
+    gtsam_add_subdir_tests(slam "${gtsam-default}" "${gtsam-default}" "${slam_excluded_files}") 
 endif(GTSAM_BUILD_TESTS)
 
 # Build timing scripts
 if (GTSAM_BUILD_TIMING)
-    gtsam_add_subdir_timing(slam "${slam_local_libs}" "${gtsam-default}" "${slam_excluded_files}") 
+    gtsam_add_subdir_timing(slam "${gtsam-default}" "${gtsam-default}" "${slam_excluded_files}") 
 endif(GTSAM_BUILD_TIMING)
diff --git a/gtsam/symbolic/CMakeLists.txt b/gtsam/symbolic/CMakeLists.txt
index cf16b03aa..9b92f40c6 100644
--- a/gtsam/symbolic/CMakeLists.txt
+++ b/gtsam/symbolic/CMakeLists.txt
@@ -2,15 +2,6 @@
 file(GLOB symbolic_headers "*.h")
 install(FILES ${symbolic_headers} DESTINATION include/gtsam/symbolic)
 
-# Components to link tests in this subfolder against
-set(symbolic_local_libs
-   inference
-   geometry
-   base
-   ccolamd
-   symbolic
-)
-
 # Files to exclude from compilation of tests and timing scripts
 set(symbolic_excluded_files
 # "${CMAKE_CURRENT_SOURCE_DIR}/tests/testTypedDiscreteFactor.cpp" # Example of excluding a test     
@@ -19,11 +10,11 @@ set(symbolic_excluded_files
 
 # Build tests
 if (GTSAM_BUILD_TESTS)
-    gtsam_add_subdir_tests(symbolic "${symbolic_local_libs}" "${gtsam-default}" "${symbolic_excluded_files}") 
+    gtsam_add_subdir_tests(symbolic "${gtsam-default}" "${gtsam-default}" "${symbolic_excluded_files}") 
 endif(GTSAM_BUILD_TESTS)
 
 # Build timing scripts
 if (GTSAM_BUILD_TIMING)
-    gtsam_add_subdir_timing(symbolic "${symbolic_local_libs}" "${gtsam-default}" "${symbolic_excluded_files}") 
+    gtsam_add_subdir_timing(symbolic "${gtsam-default}" "${gtsam-default}" "${symbolic_excluded_files}") 
 endif(GTSAM_BUILD_TIMING)
 
diff --git a/gtsam_unstable/CMakeLists.txt b/gtsam_unstable/CMakeLists.txt
index 8b366c805..fbb407f6e 100644
--- a/gtsam_unstable/CMakeLists.txt
+++ b/gtsam_unstable/CMakeLists.txt
@@ -33,10 +33,6 @@ foreach(subdir ${gtsam_unstable_subdirs})
     list(REMOVE_ITEM subdir_headers ${excluded_headers})
     set(${subdir}_srcs ${subdir_srcs} ${subdir_headers})
     gtsam_assign_source_folders("${${subdir}_srcs}") # Create MSVC structure
-    if (subdir_srcs AND GTSAM_BUILD_CONVENIENCE_LIBRARIES)
-        message(STATUS "Building Convenience Library: ${subdir}_unstable")
-        add_library("${subdir}_unstable" STATIC ${${subdir}_srcs})
-    endif()
 
     # Build local library and tests
     message(STATUS "Building ${subdir}_unstable") 
diff --git a/gtsam_unstable/base/CMakeLists.txt b/gtsam_unstable/base/CMakeLists.txt
index 420402015..2436c7c00 100644
--- a/gtsam_unstable/base/CMakeLists.txt
+++ b/gtsam_unstable/base/CMakeLists.txt
@@ -2,11 +2,6 @@
 file(GLOB base_headers "*.h")
 install(FILES ${base_headers} DESTINATION include/gtsam_unstable/base)
 
-# Components to link tests in this subfolder against
-set(base_local_libs 
-    base
-    base_unstable)
-
 set (base_full_libs
     ${gtsam-default}
     ${gtsam_unstable-default})
@@ -15,5 +10,5 @@ set (base_full_libs
 set (base_excluded_tests "")
 
 # Add all tests
-gtsam_add_subdir_tests(base_unstable "${base_local_libs}" "${base_full_libs}" "${base_excluded_tests}") 
+gtsam_add_subdir_tests(base_unstable "${base_full_libs}" "${base_full_libs}" "${base_excluded_tests}") 
 add_dependencies(check.unstable check.base_unstable)
diff --git a/gtsam_unstable/discrete/CMakeLists.txt b/gtsam_unstable/discrete/CMakeLists.txt
index 6f19c65ea..c978fcde5 100644
--- a/gtsam_unstable/discrete/CMakeLists.txt
+++ b/gtsam_unstable/discrete/CMakeLists.txt
@@ -2,15 +2,6 @@
 file(GLOB discrete_headers "*.h")
 install(FILES ${discrete_headers} DESTINATION include/gtsam_unstable/discrete)
 
-# Components to link tests in this subfolder against
-set(discrete_local_libs 
-   discrete_unstable
-   discrete
-   inference
-   base
-   ccolamd
-)
-
 set (discrete_full_libs
     ${gtsam-default}
     ${gtsam_unstable-default})
@@ -22,7 +13,7 @@ set (discrete_full_libs
 
 
 # Add all tests
-gtsam_add_subdir_tests(discrete_unstable "${discrete_local_libs}" "${discrete_full_libs}" "${discrete_excluded_tests}") 
+gtsam_add_subdir_tests(discrete_unstable "${discrete_full_libs}" "${discrete_full_libs}" "${discrete_excluded_tests}") 
 add_dependencies(check.unstable check.discrete_unstable)
 
 # List examples to build - comment out here to exclude from compilation
diff --git a/gtsam_unstable/dynamics/CMakeLists.txt b/gtsam_unstable/dynamics/CMakeLists.txt
index bf34eb476..a05c9ef26 100644
--- a/gtsam_unstable/dynamics/CMakeLists.txt
+++ b/gtsam_unstable/dynamics/CMakeLists.txt
@@ -3,17 +3,6 @@ file(GLOB dynamics_headers "*.h")
 install(FILES ${dynamics_headers} DESTINATION include/gtsam_unstable/dynamics)
 
 # Components to link tests in this subfolder against
-set(dynamics_local_libs 
-   dynamics_unstable
-   slam
-   nonlinear
-   linear
-   inference
-   geometry
-   base
-   ccolamd
-)
-
 set (dynamics_full_libs
     ${gtsam-default}
     ${gtsam_unstable-default})
@@ -22,5 +11,5 @@ set (dynamics_full_libs
 set (dynamics_excluded_tests "")
 
 # Add all tests
-gtsam_add_subdir_tests(dynamics_unstable "${dynamics_local_libs}" "${dynamics_full_libs}" "${dynamics_excluded_tests}") 
+gtsam_add_subdir_tests(dynamics_unstable "${dynamics_full_libs}" "${dynamics_full_libs}" "${dynamics_excluded_tests}") 
 add_dependencies(check.unstable check.dynamics_unstable)
diff --git a/gtsam_unstable/geometry/CMakeLists.txt b/gtsam_unstable/geometry/CMakeLists.txt
index dee1db0b4..bea2a51f0 100644
--- a/gtsam_unstable/geometry/CMakeLists.txt
+++ b/gtsam_unstable/geometry/CMakeLists.txt
@@ -3,14 +3,6 @@ file(GLOB geometry_headers "*.h")
 install(FILES ${geometry_headers} DESTINATION include/gtsam_unstable/geometry)
 
 # Components to link tests in this subfolder against
-set(geometry_local_libs 
-   geometry_unstable 
-   geometry
-   base
-   ccolamd
-   linear
-)
-
 set (geometry_full_libs
     ${gtsam-default}
     ${gtsam_unstable-default})
@@ -19,5 +11,5 @@ set (geometry_full_libs
 set (geometry_excluded_tests "")
 
 # Add all tests
-gtsam_add_subdir_tests(geometry_unstable "${geometry_local_libs}" "${geometry_full_libs}" "${geometry_excluded_tests}") 
+gtsam_add_subdir_tests(geometry_unstable "${geometry_full_libs}" "${geometry_full_libs}" "${geometry_excluded_tests}") 
 add_dependencies(check.unstable check.geometry_unstable)
diff --git a/gtsam_unstable/nonlinear/CMakeLists.txt b/gtsam_unstable/nonlinear/CMakeLists.txt
index a27a01ec8..876f342b6 100644
--- a/gtsam_unstable/nonlinear/CMakeLists.txt
+++ b/gtsam_unstable/nonlinear/CMakeLists.txt
@@ -3,17 +3,6 @@ file(GLOB nonlinear_headers "*.h")
 install(FILES ${nonlinear_headers} DESTINATION include/gtsam_unstable/nonlinear)
 
 # Components to link tests in this subfolder against
-set(nonlinear_local_libs
-nonlinear_unstable
-nonlinear
-linear
-linear_unstable
-inference
-geometry
-base
-ccolamd
-)
-
 set (nonlinear_full_libs
 ${gtsam-default}
 ${gtsam_unstable-default})
@@ -26,5 +15,5 @@ set (nonlinear_excluded_tests #"")
 
 
 # Add all tests
-gtsam_add_subdir_tests(nonlinear_unstable "${nonlinear_local_libs}" "${nonlinear_full_libs}" "${nonlinear_excluded_tests}")
+gtsam_add_subdir_tests(nonlinear_unstable "${nonlinear_full_libs}" "${nonlinear_full_libs}" "${nonlinear_excluded_tests}")
 add_dependencies(check.unstable check.nonlinear_unstable)
diff --git a/gtsam_unstable/slam/CMakeLists.txt b/gtsam_unstable/slam/CMakeLists.txt
index 934980e57..a0229de19 100644
--- a/gtsam_unstable/slam/CMakeLists.txt
+++ b/gtsam_unstable/slam/CMakeLists.txt
@@ -8,17 +8,6 @@ list(REMOVE_ITEM slam_headers ${slam_excluded_headers})
 install(FILES ${slam_headers} DESTINATION include/gtsam_unstable/slam)
 
 # Components to link tests in this subfolder against
-set(slam_local_libs 
-   slam_unstable 
-   slam
-   nonlinear
-   linear
-   inference
-   geometry
-   base
-   ccolamd
-)
-
 set (slam_full_libs
     ${gtsam-default}
     ${gtsam_unstable-default})
@@ -29,5 +18,5 @@ set (slam_excluded_tests
 #    ""  # Add to this list, with full path, to exclude
 )
 # Add all tests
-gtsam_add_subdir_tests(slam_unstable "${slam_local_libs}" "${slam_full_libs}" "${slam_excluded_tests}") 
+gtsam_add_subdir_tests(slam_unstable "${slam_full_libs}" "${slam_full_libs}" "${slam_excluded_tests}") 
 add_dependencies(check.unstable check.slam_unstable)
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index e07e0a6b0..da8387614 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -1,15 +1,7 @@
 # Assemble local libraries
-set(tests_local_libs
-   slam
-   nonlinear
-   linear
-   discrete
-   inference
-   symbolic
-   geometry
-   base
-   ccolamd
-   CppUnitLite)
+set (tests_full_libs
+    ${gtsam-default}
+    CppUnitLite)
 
 # exclude certain files
 # note the source dir on each 
@@ -31,7 +23,7 @@ if (GTSAM_BUILD_TESTS)
     # Build grouped tests
     gtsam_add_grouped_scripts("tests"               # Use subdirectory as group label
     "test*.cpp;*.h" check "Test"                      # Standard for all tests
-    "${tests_local_libs}" "${gtsam-default};CppUnitLite" "${tests_exclude}"  # Pass in linking and exclusion lists
+    "${tests_full_libs}" "${tests_full_libs}" "${tests_exclude}"  # Pass in linking and exclusion lists
     ${is_test})                                         # Set all as tests
 endif (GTSAM_BUILD_TESTS)
 
@@ -44,7 +36,7 @@ if (GTSAM_BUILD_TIMING)
     # Build grouped benchmarks
     gtsam_add_grouped_scripts("tests"               # Use subdirectory as group label
     "time*.cpp" timing "Timing Benchmark"         # Standard for all timing scripts
-    "${tests_local_libs}" "${gtsam-default};CppUnitLite" "${tests_exclude}"   # Pass in linking and exclusion lists
+    "${tests_full_libs}" "${tests_full_libs}" "${tests_exclude}"   # Pass in linking and exclusion lists
     ${is_test})
 endif (GTSAM_BUILD_TIMING)