diff --git a/.github/workflows/cmake-multi-platform.yml b/.github/workflows/cmake-multi-platform.yml
index 5f735016..0b97f3bc 100644
--- a/.github/workflows/cmake-multi-platform.yml
+++ b/.github/workflows/cmake-multi-platform.yml
@@ -26,6 +26,7 @@ jobs:
         os: [ubuntu-latest, windows-latest, macos-latest]
         build_type: [Release]
         c_compiler: [gcc, clang, cl]
+        shared_libs: ['ON']
         include:
           - os: windows-latest
             c_compiler: cl
@@ -68,15 +69,22 @@ jobs:
 
     - uses: ilammy/msvc-dev-cmd@v1
 
+    - uses: actions/setup-python@v5
+      with:
+        python-version: '3.10'
+
+    - run: pip install numpy
+
     - name: Configure CMake
       # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
       # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type
       run: >
         cmake -B ${{ steps.strings.outputs.build-output-dir }}
         -G Ninja
-        -DCMAKE_CXX_COMPILER=${{ matrix.cpp_compiler }}
-        -DCMAKE_C_COMPILER=${{ matrix.c_compiler }}
-        -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}
+        -D CMAKE_CXX_COMPILER=${{ matrix.cpp_compiler }}
+        -D CMAKE_C_COMPILER=${{ matrix.c_compiler }}
+        -D CMAKE_BUILD_TYPE=${{ matrix.build_type }}
+        -D BUILD_SHARED_LIBS=${{ matrix.shared_libs }}
         -S ${{ github.workspace }}
 
     - name: Build
diff --git a/.github/workflows/colcon-workspace.yml b/.github/workflows/colcon-workspace.yml
index ca37f4b3..c9f6d56f 100644
--- a/.github/workflows/colcon-workspace.yml
+++ b/.github/workflows/colcon-workspace.yml
@@ -62,7 +62,7 @@ jobs:
     strategy:
       matrix:
         ros_distribution: [noetic, humble]
-        cmake_shared_libs: ['OFF']
+        cmake_shared_libs: ['ON', 'OFF']
         include:
           - ros_distribution: noetic
             ros_version: 1
@@ -103,7 +103,7 @@ jobs:
     strategy:
       matrix:
         ros_distribution: [humble]
-        cmake_shared_libs: ['OFF']
+        cmake_shared_libs: ['ON', 'OFF']
 
     steps:
       - uses: actions/checkout@v4