diff --git a/fuse_constraints/CMakeLists.txt b/fuse_constraints/CMakeLists.txt
index b8a8fee5..06091a38 100644
--- a/fuse_constraints/CMakeLists.txt
+++ b/fuse_constraints/CMakeLists.txt
@@ -166,9 +166,6 @@ target_include_directories(${PROJECT_NAME} PRIVATE ${SUITESPARSE_INCLUDE_DIRS})
 # ##############################################################################
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-
   add_subdirectory(test)
   add_subdirectory(benchmark)
 endif()
diff --git a/fuse_constraints/package.xml b/fuse_constraints/package.xml
index bc7f9c84..99b1fb5b 100644
--- a/fuse_constraints/package.xml
+++ b/fuse_constraints/package.xml
@@ -35,8 +35,6 @@
   <exec_depend>rclcpp</exec_depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
   <test_depend>benchmark</test_depend>
 
   <export>
diff --git a/fuse_core/CMakeLists.txt b/fuse_core/CMakeLists.txt
index e9f9e95c..c396fc2d 100644
--- a/fuse_core/CMakeLists.txt
+++ b/fuse_core/CMakeLists.txt
@@ -81,9 +81,6 @@ rclcpp_components_register_node(
 # ##############################################################################
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-
   add_subdirectory(test)
 endif()
 
diff --git a/fuse_core/package.xml b/fuse_core/package.xml
index 34301913..a66be717 100644
--- a/fuse_core/package.xml
+++ b/fuse_core/package.xml
@@ -33,8 +33,6 @@
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_cmake_pytest</test_depend>
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
   <test_depend>geometry_msgs</test_depend>
   <test_depend>launch</test_depend>
   <test_depend>launch_pytest</test_depend>
diff --git a/fuse_graphs/CMakeLists.txt b/fuse_graphs/CMakeLists.txt
index 8d211020..45838b88 100644
--- a/fuse_graphs/CMakeLists.txt
+++ b/fuse_graphs/CMakeLists.txt
@@ -87,9 +87,6 @@ target_link_libraries(
 # ##############################################################################
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-
   add_subdirectory(test)
 
   # Benchmarks
diff --git a/fuse_graphs/package.xml b/fuse_graphs/package.xml
index 60bb46bf..1f8f028b 100644
--- a/fuse_graphs/package.xml
+++ b/fuse_graphs/package.xml
@@ -25,8 +25,6 @@
 
   <test_depend>benchmark</test_depend>
   <test_depend>ament_cmake_gtest</test_depend>
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/fuse_loss/CMakeLists.txt b/fuse_loss/CMakeLists.txt
index 9bc5c911..c2e857dc 100644
--- a/fuse_loss/CMakeLists.txt
+++ b/fuse_loss/CMakeLists.txt
@@ -50,9 +50,6 @@ target_link_libraries(${PROJECT_NAME} PUBLIC Ceres::ceres fuse_core::fuse_core
 # ##############################################################################
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-
   add_subdirectory(test)
 endif()
 
diff --git a/fuse_loss/package.xml b/fuse_loss/package.xml
index 27cc710c..627f3f06 100644
--- a/fuse_loss/package.xml
+++ b/fuse_loss/package.xml
@@ -27,8 +27,6 @@
   <test_depend>qtbase5-dev</test_depend>
   <test_depend>libqwt-qt5-dev</test_depend>
   <test_depend>ament_cmake_gtest</test_depend>
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/fuse_models/CMakeLists.txt b/fuse_models/CMakeLists.txt
index 8e65726a..2d825c35 100644
--- a/fuse_models/CMakeLists.txt
+++ b/fuse_models/CMakeLists.txt
@@ -82,12 +82,6 @@ target_link_libraries(
 # ##############################################################################
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-
-  # This is because these two files have unsuitable copyrights
-  set(_linter_excludes test/test_sensor_proc.cpp test/test_unicycle_2d.cpp)
-  set(AMENT_LINT_AUTO_FILE_EXCLUDE ${_linter_excludes})
-  ament_lint_auto_find_test_dependencies()
   add_subdirectory(test)
   add_subdirectory(benchmark)
 endif()
diff --git a/fuse_models/package.xml b/fuse_models/package.xml
index 28d6bf95..d90eb3c3 100644
--- a/fuse_models/package.xml
+++ b/fuse_models/package.xml
@@ -56,8 +56,6 @@
   <test_depend>benchmark</test_depend>
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_cmake_gmock</test_depend>
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/fuse_msgs/CMakeLists.txt b/fuse_msgs/CMakeLists.txt
index 16e2bbca..43753d17 100644
--- a/fuse_msgs/CMakeLists.txt
+++ b/fuse_msgs/CMakeLists.txt
@@ -26,10 +26,5 @@ rosidl_generate_interfaces(
   geometry_msgs
   ADD_LINTER_TESTS)
 
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-endif()
-
 ament_export_dependencies(rosidl_default_runtime)
 ament_package()
diff --git a/fuse_msgs/package.xml b/fuse_msgs/package.xml
index cbb8de89..f7ac3996 100644
--- a/fuse_msgs/package.xml
+++ b/fuse_msgs/package.xml
@@ -20,9 +20,6 @@
 
   <exec_depend>rosidl_default_runtime</exec_depend>
 
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
-
   <member_of_group>rosidl_interface_packages</member_of_group>
 
   <export>
diff --git a/fuse_optimizers/CMakeLists.txt b/fuse_optimizers/CMakeLists.txt
index 7b42b449..8ccc7ce4 100644
--- a/fuse_optimizers/CMakeLists.txt
+++ b/fuse_optimizers/CMakeLists.txt
@@ -63,8 +63,7 @@ target_link_libraries(fixed_lag_smoother_node ${PROJECT_NAME})
 # ##############################################################################
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
+  find_package(nav_msgs REQUIRED)
   add_subdirectory(test)
 endif()
 
diff --git a/fuse_optimizers/package.xml b/fuse_optimizers/package.xml
index 9a542473..7ec5efbb 100644
--- a/fuse_optimizers/package.xml
+++ b/fuse_optimizers/package.xml
@@ -45,8 +45,6 @@
   <exec_depend>std_srvs</exec_depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
   <test_depend>fuse_models</test_depend>
   <test_depend>geometry_msgs</test_depend>
   <test_depend>nav_msgs</test_depend>
diff --git a/fuse_publishers/CMakeLists.txt b/fuse_publishers/CMakeLists.txt
index 20c3682e..94316d01 100644
--- a/fuse_publishers/CMakeLists.txt
+++ b/fuse_publishers/CMakeLists.txt
@@ -52,8 +52,6 @@ target_link_libraries(
 # ##############################################################################
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
   add_subdirectory(test)
 endif()
 
diff --git a/fuse_publishers/package.xml b/fuse_publishers/package.xml
index 1b58db8b..c2d3a7f0 100644
--- a/fuse_publishers/package.xml
+++ b/fuse_publishers/package.xml
@@ -38,8 +38,6 @@
   <exec_depend>tf2_ros</exec_depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
   <test_depend>fuse_constraints</test_depend>
   <test_depend>fuse_graphs</test_depend>
   <test_depend>rclcpp</test_depend>
diff --git a/fuse_tutorials/CMakeLists.txt b/fuse_tutorials/CMakeLists.txt
index 12e58bff..c45b22c3 100644
--- a/fuse_tutorials/CMakeLists.txt
+++ b/fuse_tutorials/CMakeLists.txt
@@ -45,15 +45,6 @@ target_link_libraries(
 add_executable(range_sensor_simulator src/range_sensor_simulator.cpp)
 target_link_libraries(range_sensor_simulator ${PROJECT_NAME})
 
-# ##############################################################################
-# Testing ##
-# ##############################################################################
-
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-endif()
-
 # ##############################################################################
 # Install ##
 # ##############################################################################
diff --git a/fuse_tutorials/package.xml b/fuse_tutorials/package.xml
index 828304a6..90d9b810 100644
--- a/fuse_tutorials/package.xml
+++ b/fuse_tutorials/package.xml
@@ -34,9 +34,6 @@
   <exec_depend>rviz2</exec_depend>
   <exec_depend>sensor_msgs</exec_depend>
 
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
-
   <export>
     <build_type>ament_cmake</build_type>
     <fuse_core plugin="${prefix}/fuse_plugins.xml" />
diff --git a/fuse_variables/CMakeLists.txt b/fuse_variables/CMakeLists.txt
index 235bf932..845de66a 100644
--- a/fuse_variables/CMakeLists.txt
+++ b/fuse_variables/CMakeLists.txt
@@ -53,9 +53,6 @@ target_link_libraries(${PROJECT_NAME} PUBLIC Ceres::ceres fuse_core::fuse_core
 # ##############################################################################
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-
   add_subdirectory(test)
 endif()
 
diff --git a/fuse_variables/package.xml b/fuse_variables/package.xml
index 5430ba0b..adba511a 100644
--- a/fuse_variables/package.xml
+++ b/fuse_variables/package.xml
@@ -27,8 +27,6 @@
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_cmake_pytest</test_depend>
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
   <test_depend>rclcpp</test_depend>
 
   <export>
diff --git a/fuse_viz/CMakeLists.txt b/fuse_viz/CMakeLists.txt
index 91548c1e..64694f84 100644
--- a/fuse_viz/CMakeLists.txt
+++ b/fuse_viz/CMakeLists.txt
@@ -78,13 +78,4 @@ install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
 
 pluginlib_export_plugin_description_file(rviz_common rviz_plugins.xml)
 
-# ##############################################################################
-# Testing ##
-# ##############################################################################
-
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-endif()
-
 ament_package()
diff --git a/fuse_viz/package.xml b/fuse_viz/package.xml
index c2073e9f..058f80f3 100644
--- a/fuse_viz/package.xml
+++ b/fuse_viz/package.xml
@@ -25,9 +25,6 @@
   <depend>rviz_rendering</depend>
   <depend>tf2_geometry_msgs</depend>
 
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
-
   <export>
     <build_type>ament_cmake</build_type>
   </export>