diff --git a/rcl/CMakeLists.txt b/rcl/CMakeLists.txt
index c2dda4e6a..8e8376991 100644
--- a/rcl/CMakeLists.txt
+++ b/rcl/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()
 
 install(
diff --git a/rcl/package.xml b/rcl/package.xml
index c4dda74d3..0471cc398 100644
--- a/rcl/package.xml
+++ b/rcl/package.xml
@@ -14,4 +14,6 @@
 
   <build_export_depend>rmw</build_export_depend>
 
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
 </package>