diff --git a/grid_map_filters/CMakeLists.txt b/grid_map_filters/CMakeLists.txt
index 9d0cba5a..0204115d 100644
--- a/grid_map_filters/CMakeLists.txt
+++ b/grid_map_filters/CMakeLists.txt
@@ -136,6 +136,7 @@ if(BUILD_TESTING)
     list(APPEND AMENT_LINT_AUTO_EXCLUDE
       ament_cmake_cpplint
       ament_cmake_copyright
+      ament_uncrustify
     )
     ament_lint_auto_find_test_dependencies()
 
@@ -144,6 +145,16 @@ if(BUILD_TESTING)
     ament_cpplint(
       FILTERS -legal/copyright -build/include_order
     )
+
+    # run uncrustify except for EigenLab.hpp
+    set(
+      _linter_excludes
+      include/EigenLab/EigenLab.hpp
+    )
+    ament_uncrustify(
+      EXCLUDE ${_linter_excludes}
+      LANGUAGE c++
+    )
   endif()
   ament_lint_auto_find_test_dependencies()
 endif()