diff --git a/.github/workflows/ROS.yml b/.github/workflows/ROS.yml
index f63c26f..da4e048 100644
--- a/.github/workflows/ROS.yml
+++ b/.github/workflows/ROS.yml
@@ -70,4 +70,3 @@ jobs:
         with:
           package-name: motion_capture_tracking
           target-ros2-distro: ${{ matrix.ros_distribution }}
-          skip-tests: true
diff --git a/motion_capture_tracking/CMakeLists.txt b/motion_capture_tracking/CMakeLists.txt
index 300f534..e5ae051 100644
--- a/motion_capture_tracking/CMakeLists.txt
+++ b/motion_capture_tracking/CMakeLists.txt
@@ -80,16 +80,30 @@ if ((CMAKE_SYSTEM_NAME STREQUAL "Linux") AND (CMAKE_SYSTEM_PROCESSOR STREQUAL "x
   )
 endif()
 
-# if(BUILD_TESTING)
-#   find_package(ament_lint_auto REQUIRED)
-#   # the following line skips the linter which checks for copyrights
-#   # uncomment the line when a copyright and license is not present in all source files
-#   #set(ament_cmake_copyright_FOUND TRUE)
-#   # the following line skips cpplint (only works in a git repo)
-#   # uncomment the line when this package is not in a git repo
-#   #set(ament_cmake_cpplint_FOUND TRUE)
-#   ament_lint_auto_find_test_dependencies()
-# endif()
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+
+  # Exclude your deps directory from all linters
+  set(AMENT_LINT_AUTO_FILE_EXCLUDE
+    "${CMAKE_CURRENT_SOURCE_DIR}/deps/*"
+  )
+  # ament_lint_auto_file_exclude not supported for ament_cmake_lint
+  # Instead, we manually only run it on this file
+  set(AMENT_LINT_AUTO_EXCLUDE
+    ament_cmake_lint_cmake
+  )
+
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+
+  find_package(ament_cmake_lint_cmake REQUIRED)
+  ament_lint_cmake("${CMAKE_CURRENT_LIST_FILE}")
+endif()
 
 # Install launch files.
 install(DIRECTORY
diff --git a/motion_capture_tracking/deps/.ament_ignore b/motion_capture_tracking/deps/.ament_ignore
new file mode 100644
index 0000000..e69de29
diff --git a/motion_capture_tracking/deps/CPPLINT.cfg b/motion_capture_tracking/deps/CPPLINT.cfg
new file mode 100644
index 0000000..2f50e90
--- /dev/null
+++ b/motion_capture_tracking/deps/CPPLINT.cfg
@@ -0,0 +1 @@
+filter=-
diff --git a/motion_capture_tracking/launch/launch.py b/motion_capture_tracking/launch/launch.py
index c63d329..723a447 100644
--- a/motion_capture_tracking/launch/launch.py
+++ b/motion_capture_tracking/launch/launch.py
@@ -1,4 +1,5 @@
 import os
+
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch_ros.actions import Node