diff --git a/.github/workflows/lint.yaml b/.github/workflows/lint.yaml
index 010a90157..3488e94ea 100644
--- a/.github/workflows/lint.yaml
+++ b/.github/workflows/lint.yaml
@@ -22,7 +22,7 @@ jobs:
             uncrustify,
             xmllint,
           ]
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-latest
     env:
       AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: 1
     steps:
diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
index 2fe97d371..4d1497641 100644
--- a/.github/workflows/test.yaml
+++ b/.github/workflows/test.yaml
@@ -24,18 +24,19 @@ jobs:
         distro: [humble, iron, rolling]
         include:
           - distro: humble
-            os: ubuntu-22.04
+            os: 22.04
           - distro: iron
-            os: ubuntu-22.04
+            os: 22.04
           - distro: rolling
-            os: ubuntu-22.04
-    runs-on: ${{ matrix.os }}
+            os: 24.04
+    runs-on: ubuntu-latest
+    container: ubuntu:${{ matrix.os }}
     steps:
       - uses: ros-tooling/setup-ros@master
-      - run: |
-          sudo pip install pydocstyle==6.1.1  # downgrade to fix https://github.com/ament/ament_lint/pull/428
-          sudo pip install pip --upgrade
-          sudo pip install pyopenssl --upgrade  # fix for AttributeError: module 'lib' has no attribute 'X509_V_FLAG_CB_ISSUER_CHECK'
+      # - run: |
+      #     sudo apt install -y python3-pip
+      #     pip3 install --break-system-packages 'flake8<5' # fix flake8.exceptions.FailedToLoadPlugin: Flake8 failed to load plugin "pycodestyle" due to cannot import name 'missing_whitespace_around_operator' from 'pycodestyle' (/usr/lib/python3/dist-packages/pycodestyle.py).
+      #   if: ${{ matrix.os == '24.04' }}
       - uses: ros-tooling/action-ros-ci@master
         with:
           target-ros2-distro: ${{ matrix.distro }}
diff --git a/self_test/CMakeLists.txt b/self_test/CMakeLists.txt
index 0acbaa640..46401f9ed 100644
--- a/self_test/CMakeLists.txt
+++ b/self_test/CMakeLists.txt
@@ -67,6 +67,10 @@ if(BUILD_TESTING)
   set(ament_cmake_copyright_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
 
+  list(APPEND AMENT_LINT_AUTO_EXCLUDE
+    ament_cmake_uncrustify  # Inconsistent between jammy and noble
+  )
+
   add_subdirectory(test)
 endif()