diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index ec5c726..23b4c63 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -29,31 +29,3 @@ jobs:
           UPSTREAM_WORKSPACE: "github:LeoRover/leo_common-ros2#humble"
           PYLINT_CHECK: true
           PYLINT_ARGS: "--rcfile=src/leo_robot-ros2/.pylintrc"
-
-  ament_lint:
-    name: ament_${{ matrix.linter }}
-    runs-on: ubuntu-20.04
-    container:
-      image: ros:humble
-    strategy:
-      fail-fast: false
-      matrix:
-        linter: [copyright, lint_cmake, mypy, uncrustify, xmllint]
-    steps:
-      - uses: actions/checkout@v3
-      - uses: ros-tooling/action-ros-lint@v0.1
-        with:
-          distribution: humble
-          linter: ${{ matrix.linter }}
-          package-name: |
-            leo_bringup
-            leo_fw
-            leo_robot
-
-  black_check:
-    runs-on: ubuntu-20.04
-    steps:
-      - name: Checkout repo
-        uses: actions/checkout@v3
-      - name: Check formatting
-        uses: psf/black@stable
diff --git a/leo_bringup/CMakeLists.txt b/leo_bringup/CMakeLists.txt
index 312f552..fe7b6f8 100644
--- a/leo_bringup/CMakeLists.txt
+++ b/leo_bringup/CMakeLists.txt
@@ -17,6 +17,9 @@ install(
   DESTINATION lib/${PROJECT_NAME}
 )
 
-
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
 
 ament_package()
diff --git a/leo_bringup/package.xml b/leo_bringup/package.xml
index d0429e4..7b0f137 100644
--- a/leo_bringup/package.xml
+++ b/leo_bringup/package.xml
@@ -34,6 +34,10 @@
 
   <!-- <exec_depend>web_video_server</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>
     <architecture_independent/>
diff --git a/leo_fw/CMakeLists.txt b/leo_fw/CMakeLists.txt
index b77cd96..77319bb 100644
--- a/leo_fw/CMakeLists.txt
+++ b/leo_fw/CMakeLists.txt
@@ -54,4 +54,9 @@ 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_fw/package.xml b/leo_fw/package.xml
index c73718d..b0249b4 100644
--- a/leo_fw/package.xml
+++ b/leo_fw/package.xml
@@ -3,9 +3,7 @@
 <package format="3">
   <name>leo_fw</name>
   <version>1.3.0</version>
-  <description>
-    Binary releases of Leo Rover firmware and related utilities
-  </description>
+  <description> Binary releases of Leo Rover firmware and related utilities </description>
 
   <maintainer email="support@fictionlab.pl">Fictionlab</maintainer>
 
@@ -44,7 +42,15 @@
   <exec_depend>sensor_msgs</exec_depend>
   <exec_depend>nav_msgs</exec_depend>
   <exec_depend>leo_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_uncrustify</test_depend>
+  <test_depend>ament_cmake_xmllint</test_depend>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>