diff --git a/gz_ros2_control/CMakeLists.txt b/gz_ros2_control/CMakeLists.txt
index bbcba3dc..ee4571ab 100644
--- a/gz_ros2_control/CMakeLists.txt
+++ b/gz_ros2_control/CMakeLists.txt
@@ -69,12 +69,6 @@ install(DIRECTORY
   DESTINATION include
 )
 
-# Testing and linting
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-endif()
-
 ament_export_include_directories(include)
 ament_export_libraries(${PROJECT_NAME}-system gz_hardware_plugins)
 
diff --git a/gz_ros2_control/package.xml b/gz_ros2_control/package.xml
index 2f81a6ba..eac7754e 100644
--- a/gz_ros2_control/package.xml
+++ b/gz_ros2_control/package.xml
@@ -23,9 +23,6 @@
   <depend>hardware_interface</depend>
   <depend>ros2_control_cmake</depend>
 
-  <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/gz_ros2_control_demos/CMakeLists.txt b/gz_ros2_control_demos/CMakeLists.txt
index 3fb844ca..df3597a5 100644
--- a/gz_ros2_control_demos/CMakeLists.txt
+++ b/gz_ros2_control_demos/CMakeLists.txt
@@ -60,12 +60,6 @@ target_link_libraries(example_gripper PUBLIC
   rclcpp::rclcpp
 )
 
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-
-  ament_lint_auto_find_test_dependencies()
-endif()
-
 ## Install
 install(
   TARGETS
diff --git a/gz_ros2_control_demos/package.xml b/gz_ros2_control_demos/package.xml
index d79cd08b..5994ed19 100644
--- a/gz_ros2_control_demos/package.xml
+++ b/gz_ros2_control_demos/package.xml
@@ -20,6 +20,7 @@
   <build_depend>geometry_msgs</build_depend>
   <build_depend>rclcpp</build_depend>
   <build_depend>rclcpp_action</build_depend>
+  <build_depend>ros2_control_cmake</build_depend>
   <build_depend>std_msgs</build_depend>
 
   <exec_depend>ament_index_python</exec_depend>
@@ -35,7 +36,6 @@
   <exec_depend>xacro</exec_depend>
 
   <!-- ros2_control -->
-  <depend>ros2_control_cmake</depend>
   <exec_depend>ackermann_steering_controller</exec_depend>
   <exec_depend>control_msgs</exec_depend>
   <exec_depend>diff_drive_controller</exec_depend>
@@ -51,9 +51,6 @@
   <exec_depend>tricycle_steering_controller</exec_depend>
   <exec_depend>velocity_controllers</exec_depend>
 
-  <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/gz_ros2_control_tests/CMakeLists.txt b/gz_ros2_control_tests/CMakeLists.txt
index e7b320ba..525a125c 100644
--- a/gz_ros2_control_tests/CMakeLists.txt
+++ b/gz_ros2_control_tests/CMakeLists.txt
@@ -4,9 +4,6 @@ project(gz_ros2_control_tests)
 find_package(ament_cmake REQUIRED)
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-
   add_subdirectory(tests)
 endif()
 
diff --git a/gz_ros2_control_tests/package.xml b/gz_ros2_control_tests/package.xml
index 4530067e..da2bd3a6 100644
--- a/gz_ros2_control_tests/package.xml
+++ b/gz_ros2_control_tests/package.xml
@@ -10,8 +10,6 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <test_depend>ament_index_python</test_depend>
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
   <test_depend>gz_ros2_control_demos</test_depend>
   <test_depend>launch_ros</test_depend>
   <test_depend>launch_testing_ament_cmake</test_depend>