I've made some modules at https://github.com/rpavlik/cmake-modules/ including some for integrating boost test - see the readme in that repo for info on the easiest way to use them.
Then, you'd want to do the following, assuming test_DimensionedQuantities.cpp is a boost.test test driver source.
include(BoostTestTargets)
add_boost_test(DimensionedQuantities
SOURCES
test_DimensionedQuantities.cpp)
This adds just a single CTest-visible test that fails if any of the boost tests fail. If you have tests that can be specified by name to the test driver (the simplest macros fall in this category), you can do something like this:
include(BoostTestTargets)
add_boost_test(DimensionedQuantities
SOURCES
test_DimensionedQuantities.cpp
TESTS
CheckCollision
BodyPoseNotCorrupted
CheckGraspTransform
BodyFollowsMockManip1D
BodyFollowsMockManip2D
BodyFollowsMockManip3D)
There are a bunch more options, including configuring a header to choose the best option of a: included version of UTF, b: static link, or c: dynamic link, as well as linking against libraries, etc. Just look in the cmake file for info.