diff --git a/tests/integration_test.cpp b/tests/integration_test.cpp
index 182e888..e7b4892 100644
--- a/tests/integration_test.cpp
+++ b/tests/integration_test.cpp
@@ -5,7 +5,9 @@
 
 #include "multi_agent_solver/multi_agent_problem.hpp"
 #include "multi_agent_solver/ocp.hpp"
+#ifdef MAS_HAVE_OSQP
 #include "multi_agent_solver/solvers/osqp.hpp"
+#endif
 #include "multi_agent_solver/solvers/ilqr.hpp"
 #include "multi_agent_solver/strategies/centralized.hpp"
 #include "multi_agent_solver/strategies/nash.hpp"
@@ -85,6 +87,7 @@ create_single_track_circular_ocp( double initial_theta, double track_radius, dou
 
 } // namespace
 
+#ifdef MAS_HAVE_OSQP
 TEST( IntegrationTest, SingleTrackCentralizedOSQP )
 {
   SolverParams params;
@@ -143,6 +146,7 @@ TEST( IntegrationTest, SingleTrackCentralizedOSQP )
      EXPECT_TRUE( std::isfinite(v) );
   }
 }
+#endif
 
 TEST( IntegrationTest, SingleTrackCentralizedILQR )
 {
diff --git a/tests/osqp_bounds_test.cpp b/tests/osqp_bounds_test.cpp
index 9e9b0b8..367ca2f 100644
--- a/tests/osqp_bounds_test.cpp
+++ b/tests/osqp_bounds_test.cpp
@@ -1,3 +1,4 @@
+#ifdef MAS_HAVE_OSQP
 #include <gtest/gtest.h>
 
 #include "multi_agent_solver/ocp.hpp"
@@ -103,3 +104,4 @@ TEST_F( OSQPBoundsTest, OSQPCollocationSolverRespectsStateBounds )
 }
 
 } // namespace mas
+#endif // MAS_HAVE_OSQP