diff --git a/leo_docking/CMakeLists.txt b/leo_docking/CMakeLists.txt
index c17537a..decf449 100755
--- a/leo_docking/CMakeLists.txt
+++ b/leo_docking/CMakeLists.txt
@@ -30,8 +30,8 @@ install(PROGRAMS
 )
 
 if(BUILD_TESTING)
-    #find_package(ament_cmake_pytest REQUIRED)
-    #ament_add_pytest_test(${PROJECT_NAME}_test .)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
 endif()
 
 ament_package()
diff --git a/leo_docking/package.xml b/leo_docking/package.xml
index 5d05f3c..77c2b59 100755
--- a/leo_docking/package.xml
+++ b/leo_docking/package.xml
@@ -26,6 +26,13 @@
   <exec_depend>aruco_opencv</exec_depend>
   <exec_depend>aruco_opencv_msgs</exec_depend>
 
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_cmake_black</test_depend>
+  <test_depend>ament_cmake_copyright</test_depend>
+  <test_depend>ament_cmake_lint_cmake</test_depend>
+  <test_depend>ament_cmake_mypy</test_depend>
+  <test_depend>ament_cmake_xmllint</test_depend>
+
   <export>
    <build_type>ament_cmake</build_type>
   </export>
diff --git a/leo_docking_msgs/CMakeLists.txt b/leo_docking_msgs/CMakeLists.txt
index 1077c79..3cdc8e8 100644
--- a/leo_docking_msgs/CMakeLists.txt
+++ b/leo_docking_msgs/CMakeLists.txt
@@ -44,6 +44,8 @@ rosidl_generate_interfaces(${PROJECT_NAME}
 )
 
 if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
 endif()
 
 ament_package()
\ No newline at end of file
diff --git a/leo_docking_msgs/package.xml b/leo_docking_msgs/package.xml
index b0bc1ff..cb97804 100644
--- a/leo_docking_msgs/package.xml
+++ b/leo_docking_msgs/package.xml
@@ -17,6 +17,10 @@
 
   <depend>std_msgs</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>