diff --git a/.github/workflows/ci-foxy.yml b/.github/workflows/ci-foxy.yml
deleted file mode 100644
index 93e1716..0000000
--- a/.github/workflows/ci-foxy.yml
+++ /dev/null
@@ -1,53 +0,0 @@
-name: CI-Foxy
-
-on:
-  workflow_dispatch:
-  push:
-    branches:
-      - foxy
-  pull_request:
-    branches:
-      - foxy
-
-env:
- ROS_DISTRO: foxy
-
-jobs:
-  industrial_ci:
-    runs-on: ubuntu-20.04
-    strategy:
-      matrix:
-        ROS_REPO: [testing, main]
-    env:
-      ROS_REPO: ${{ matrix.ROS_REPO }}
-    steps:
-      - name: Checkout repo
-        uses: actions/checkout@v3
-      - name: Source tests
-        uses: "ros-industrial/industrial_ci@master"
-        env:
-          DOWNSTREAM_WORKSPACE: "github:LeoRover/leo_desktop-ros2#foxy"
-
-  ament_lint:
-    name: ament_${{ matrix.linter }}
-    runs-on: ubuntu-20.04
-    container:
-      image: ubuntu:focal
-    strategy:
-      fail-fast: false
-      matrix:
-        linter: [lint_cmake, xmllint]
-    steps:
-      - uses: actions/checkout@v3
-      - uses: ros-tooling/setup-ros@v0.3
-        with:
-          required-ros-distributions: ${{ env.ROS_DISTRO }}
-      - uses: ros-tooling/action-ros-lint@v0.1
-        with:
-          distribution: foxy
-          linter: ${{ matrix.linter }}
-          package-name: |
-            leo
-            leo_description
-            leo_msgs
-            leo_teleop
diff --git a/.github/workflows/ci-humble.yml b/.github/workflows/ci-humble.yml
index 406ebe3..8f22904 100644
--- a/.github/workflows/ci-humble.yml
+++ b/.github/workflows/ci-humble.yml
@@ -26,28 +26,4 @@ jobs:
       - name: Source tests
         uses: "ros-industrial/industrial_ci@master"
         env:
-          DOWNSTREAM_WORKSPACE: "github:LeoRover/leo_desktop-ros2#humble github:LeoRover/leo_desktop-ros2#humble"
-
-  ament_lint:
-    name: ament_${{ matrix.linter }}
-    runs-on: ubuntu-20.04
-    container:
-      image: ubuntu:jammy
-    strategy:
-      fail-fast: false
-      matrix:
-        linter: [lint_cmake, xmllint]
-    steps:
-      - uses: actions/checkout@v3
-      - uses: ros-tooling/setup-ros@v0.3
-        with:
-          required-ros-distributions: ${{ env.ROS_DISTRO }}
-      - uses: ros-tooling/action-ros-lint@v0.1
-        with:
-          distribution: humble
-          linter: ${{ matrix.linter }}
-          package-name: |
-            leo
-            leo_description
-            leo_msgs
-            leo_teleop
+          DOWNSTREAM_WORKSPACE: "github:LeoRover/leo_desktop-ros2#humble github:LeoRover/leo_robot-ros2#humble"
diff --git a/leo_description/CMakeLists.txt b/leo_description/CMakeLists.txt
index 31ea79f..b27a888 100644
--- a/leo_description/CMakeLists.txt
+++ b/leo_description/CMakeLists.txt
@@ -12,6 +12,11 @@ install(
   DESTINATION share/${PROJECT_NAME}
 )
 
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
 ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/gz_sim_resource_path.dsv")
 
 ament_package()
diff --git a/leo_description/package.xml b/leo_description/package.xml
index e29bd3a..1131699 100644
--- a/leo_description/package.xml
+++ b/leo_description/package.xml
@@ -20,6 +20,10 @@
   <exec_depend>xacro</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
 
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_cmake_lint_cmake</test_depend>
+  <test_depend>ament_cmake_xmllint</test_depend>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>
diff --git a/leo_msgs/CMakeLists.txt b/leo_msgs/CMakeLists.txt
index 993e71a..aefd6ff 100644
--- a/leo_msgs/CMakeLists.txt
+++ b/leo_msgs/CMakeLists.txt
@@ -14,4 +14,9 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   DEPENDENCIES builtin_interfaces
 )
 
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
 ament_package()
diff --git a/leo_msgs/package.xml b/leo_msgs/package.xml
index bfe1c09..5444990 100644
--- a/leo_msgs/package.xml
+++ b/leo_msgs/package.xml
@@ -25,6 +25,10 @@
   <build_depend>builtin_interfaces</build_depend>
   <exec_depend>builtin_interfaces</exec_depend>
 
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_cmake_lint_cmake</test_depend>
+  <test_depend>ament_cmake_xmllint</test_depend>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>
diff --git a/leo_teleop/CMakeLists.txt b/leo_teleop/CMakeLists.txt
index 278e3f0..eb5e8a0 100644
--- a/leo_teleop/CMakeLists.txt
+++ b/leo_teleop/CMakeLists.txt
@@ -10,4 +10,9 @@ install(
   DESTINATION share/${PROJECT_NAME}
 )
 
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
 ament_package()
diff --git a/leo_teleop/package.xml b/leo_teleop/package.xml
index dffe114..9af8adf 100644
--- a/leo_teleop/package.xml
+++ b/leo_teleop/package.xml
@@ -21,6 +21,10 @@
   <exec_depend>teleop_twist_joy</exec_depend>
   <exec_depend>teleop_twist_keyboard</exec_depend>
 
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_cmake_lint_cmake</test_depend>
+  <test_depend>ament_cmake_xmllint</test_depend>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>