diff --git a/tracetools/CMakeLists.txt b/tracetools/CMakeLists.txt
index 328185e..f989644 100644
--- a/tracetools/CMakeLists.txt
+++ b/tracetools/CMakeLists.txt
@@ -91,4 +91,9 @@ else()
   ament_export_libraries(${PROJECT_NAME})
 endif()
 
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
 ament_package()
diff --git a/tracetools/package.xml b/tracetools/package.xml
index 2d80723..6794a9e 100644
--- a/tracetools/package.xml
+++ b/tracetools/package.xml
@@ -13,6 +13,9 @@
 
   <!-- explicitly not depending on LTTng -->
 
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>
diff --git a/tracetools_test/CMakeLists.txt b/tracetools_test/CMakeLists.txt
index 2c17289..02ab483 100644
--- a/tracetools_test/CMakeLists.txt
+++ b/tracetools_test/CMakeLists.txt
@@ -86,6 +86,9 @@ if(BUILD_TESTING)
     DESTINATION lib/${PROJECT_NAME}
   )
 
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+
   find_package(ament_cmake_pytest REQUIRED)
 
   # Run each test in its own pytest invocation
diff --git a/tracetools_test/package.xml b/tracetools_test/package.xml
index 884375e..008337e 100644
--- a/tracetools_test/package.xml
+++ b/tracetools_test/package.xml
@@ -20,6 +20,8 @@
   <exec_depend>std_srvs</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
   <test_depend>launch_ros</test_depend>
   <test_depend>python3-pytest</test_depend>
   <test_depend>tracetools_trace</test_depend>