diff --git a/CMakeLists.txt b/CMakeLists.txt
index e8043922..44f4ed5e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -42,11 +42,7 @@ ament_target_dependencies(${PROJECT_NAME}
 if(BUILD_TESTING)
   find_package(ament_cmake_gmock REQUIRED)
   find_package(ament_cmake_gtest REQUIRED)
-  find_package(ament_lint_auto REQUIRED)
   find_package(rclcpp_lifecycle REQUIRED)
-  list(APPEND AMENT_LINT_AUTO_EXCLUDE ament_cmake_copyright)
-
-  ament_lint_auto_find_test_dependencies()
 
   ament_add_gmock(pid_tests test/pid_tests.cpp)
   target_link_libraries(pid_tests ${PROJECT_NAME})
diff --git a/package.xml b/package.xml
index 2ee37d08..3612e3bc 100644
--- a/package.xml
+++ b/package.xml
@@ -28,8 +28,6 @@
 
   <test_depend>ament_cmake_gmock</test_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_lifecycle</test_depend>
   <export>
     <build_type>ament_cmake</build_type>