diff --git a/.github/workflows/ros-lint.yml b/.github/workflows/ros-lint.yml
index 41df9183..faa6b96e 100644
--- a/.github/workflows/ros-lint.yml
+++ b/.github/workflows/ros-lint.yml
@@ -5,7 +5,7 @@ on:
 jobs:
   ament_lint:
     name: ament_${{ matrix.linter }}
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     strategy:
       fail-fast: false
       matrix:
@@ -22,7 +22,7 @@ jobs:
 
   ament_lint_100:
     name: ament_${{ matrix.linter }}
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     strategy:
       fail-fast: false
       matrix:
@@ -37,3 +37,23 @@ jobs:
         arguments: "--linelength=100 --filter=-whitespace/newline"
         package-name:
           control_toolbox
+
+  ament_cppcheck:
+    name: ament_${{ matrix.linter }}
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+          linter: [cppcheck]
+    env:
+      AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: true
+    steps:
+    - uses: actions/checkout@v4
+    - uses: ros-tooling/setup-ros@0.7.1
+    - uses: ros-tooling/action-ros-lint@v0.1
+      with:
+        distribution: rolling
+        linter: ${{ matrix.linter }}
+        arguments: "--language=c++"
+        package-name:
+          control_toolbox