diff --git a/tf2_kdl/CMakeLists.txt b/tf2_kdl/CMakeLists.txt
index c9934979a..1a727d5e7 100644
--- a/tf2_kdl/CMakeLists.txt
+++ b/tf2_kdl/CMakeLists.txt
@@ -18,10 +18,10 @@ find_package(tf2 REQUIRED)
 find_package(tf2_ros REQUIRED)
 
 ament_python_install_package(${PROJECT_NAME}
-     PACKAGE_DIR src/${PROJECT_NAME})
+  PACKAGE_DIR src/${PROJECT_NAME})
 
 install(DIRECTORY include/${PROJECT_NAME}/
-    DESTINATION include/${PROJECT_NAME}
+  DESTINATION include/${PROJECT_NAME}
 )
 
 # TODO(ahcorde): Port python once https://github.com/ros2/orocos_kinematics_dynamics/pull/4 is merged
@@ -31,9 +31,16 @@ install(DIRECTORY include/${PROJECT_NAME}/
 
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
+  find_package(ament_lint_auto REQUIRED)
   find_package(rclcpp REQUIRED)
   find_package(tf2_msgs REQUIRED)
 
+  # TODO(ros2/geometry2#259) Remove once headers
+  # are renamed to .hpp
+  set(ament_cmake_uncrustify_ADDITIONAL_ARGS --language CPP)
+  set(ament_cmake_cppcheck_LANGUAGE c++)
+  ament_lint_auto_find_test_dependencies()
+
   ament_add_gtest(test_kdl test/test_tf2_kdl.cpp)
   target_include_directories(test_kdl PUBLIC
     include
diff --git a/tf2_kdl/package.xml b/tf2_kdl/package.xml
index 40e06e151..7073e599f 100644
--- a/tf2_kdl/package.xml
+++ b/tf2_kdl/package.xml
@@ -22,6 +22,8 @@
   <exec_depend>tf2_ros_py</exec_depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
   <test_depend>rclcpp</test_depend>
   <test_depend>tf2_msgs</test_depend>