diff --git a/rclcpp/CMakeLists.txt b/rclcpp/CMakeLists.txt
index 66ded28c8d..d9194f5bc0 100644
--- a/rclcpp/CMakeLists.txt
+++ b/rclcpp/CMakeLists.txt
@@ -8,6 +8,11 @@ ament_export_dependencies(rmw)
 
 ament_export_include_directories(include)
 
+if(AMENT_ENABLE_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
 ament_package(
   CONFIG_EXTRAS rclcpp-extras.cmake
 )
diff --git a/rclcpp/package.xml b/rclcpp/package.xml
index 887c418d19..f393a38136 100644
--- a/rclcpp/package.xml
+++ b/rclcpp/package.xml
@@ -9,4 +9,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <build_export_depend>rmw</build_export_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
 </package>