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Necroing a bit here, but I had this problem as well and this was my solution

For reference, I refer to unit tests as the library tests (ie: no ROS environment) and integration tests as tests done with rostest

Add in two options in the top of your CMake (or your root CMake)

option(BUILD_UNIT_TESTS "Build the unit tests" OFF)
option(BUILD_INTEGRATION_TESTS "Build the integration tests" OFF)

Write your tests block similar to your above example

if(CATKIN_ENABLE_TESTING)
  if(BUILD_UNIT_TESTS)
    catkin_add_gtest(
      primary_controller_unit_tests
      test/unit_tests.cpp
    )
    if(TARGET primary_controller_unit_tests)
      target_link_libraries(
        primary_controller_unit_tests 
        ${catkin_LIBRARIES}
        ${PROJECT_NAME}
      )
    endif()
  endif(BUILD_UNIT_TESTS)

  if(BUILD_INTEGRATION_TESTS)
    add_rostest_gtest(
      primary_controller_integration_tests 
      test/integration_tests.test 
      test/integration_tests.cpp
    )
    if(TARGET primary_controller_integration_tests)
      target_link_libraries(
        primary_controller_integration_tests 
        ${catkin_LIBRARIES}
        ${PROJECT_NAME}
      )
    endif()
  endif(BUILD_INTEGRATION_TESTS)

endif(CATKIN_ENABLE_TESTING)

Then when invoking catkin, use

catkin_make run_tests --cmake-args -DBUILD_UNIT_TESTS=OFF -DBUILD_INTEGRATION_TESTS=ON

I'm in the attempt of making a ROS template which will work with GitLab (this sort of functionality makes sense for a CI), if its of any use to anyone else see it here https://github.com/ALTinners/ros-gitlab-ci-example

Necroing a bit here, but I had this problem as well and this was my solution

For reference, I refer to unit tests as the library tests (ie: no ROS environment) and integration tests as tests done with rostest

Add in two options in the top of your CMake (or your root CMake)

option(BUILD_UNIT_TESTS "Build the unit tests" OFF)
option(BUILD_INTEGRATION_TESTS "Build the integration tests" OFF)

Write your tests block similar to your above example

if(CATKIN_ENABLE_TESTING)
  if(BUILD_UNIT_TESTS)
    catkin_add_gtest(
      primary_controller_unit_tests
      test/unit_tests.cpp
    )
    if(TARGET primary_controller_unit_tests)
      target_link_libraries(
        primary_controller_unit_tests 
        ${catkin_LIBRARIES}
        ${PROJECT_NAME}
      )
    endif()
  endif(BUILD_UNIT_TESTS)

  if(BUILD_INTEGRATION_TESTS)
    add_rostest_gtest(
      primary_controller_integration_tests 
      test/integration_tests.test 
      test/integration_tests.cpp
    )
    if(TARGET primary_controller_integration_tests)
      target_link_libraries(
        primary_controller_integration_tests 
        ${catkin_LIBRARIES}
        ${PROJECT_NAME}
      )
    endif()
  endif(BUILD_INTEGRATION_TESTS)

endif(CATKIN_ENABLE_TESTING)

Then when invoking catkin, use

catkin_make run_tests --cmake-args -DBUILD_UNIT_TESTS=OFF -DBUILD_INTEGRATION_TESTS=ON

I'm in the attempt of making a ROS template which will work with GitLab (this sort of functionality makes sense for a CI), if its of any use to anyone else see it here https://github.com/ALTinners/ros-gitlab-ci-example