diff --git a/ament_cmake_yamllint/CHANGELOG.rst b/ament_cmake_yamllint/CHANGELOG.rst
new file mode 100644
index 000000000..e69de29bb
diff --git a/ament_cmake_yamllint/CMakeLists.txt b/ament_cmake_yamllint/CMakeLists.txt
new file mode 100644
index 000000000..504693b7f
--- /dev/null
+++ b/ament_cmake_yamllint/CMakeLists.txt
@@ -0,0 +1,24 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(ament_cmake_yamllint NONE)
+
+find_package(ament_cmake_core REQUIRED)
+find_package(ament_cmake_test REQUIRED)
+
+ament_package()
+
+install(
+  DIRECTORY cmake
+  DESTINATION share/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_copyright REQUIRED)
+  ament_copyright()
+
+  find_package(ament_cmake_lint_cmake REQUIRED)
+  ament_lint_cmake()
+
+  find_package(ament_cmake_xmllint REQUIRED)
+  ament_xmllint()
+endif()
diff --git a/ament_cmake_yamllint/cmake/ament_yamllint.cmake b/ament_cmake_yamllint/cmake/ament_yamllint.cmake
new file mode 100644
index 000000000..871c528d8
--- /dev/null
+++ b/ament_cmake_yamllint/cmake/ament_yamllint.cmake
@@ -0,0 +1,69 @@
+# Copyright 2014-2018 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+#
+# Add a test to check YAML files with yamllint.
+#
+# :param TESTNAME: the name of the test, default: "yamllint"
+# :type TESTNAME: string
+# :param ARGN: the files or directories to check
+# :type ARGN: list of strings
+#
+# @public
+#
+function(ament_yamllint)
+  cmake_parse_arguments(ARG "" "MAX_LINE_LENGTH;TESTNAME" "" ${ARGN})
+  if(NOT ARG_TESTNAME)
+    set(ARG_TESTNAME "yamllint")
+  endif()
+
+  find_program(ament_yamllint_BIN NAMES "ament_yamllint")
+  if(NOT ament_yamllint_BIN)
+    message(FATAL_ERROR "ament_yamllint() could not find program 'ament_yamllint'")
+  endif()
+
+  set(result_file "${AMENT_TEST_RESULTS_DIR}/${PROJECT_NAME}/${ARG_TESTNAME}.xunit.xml")
+  set(cmd "${ament_yamllint_BIN}" "--xunit-file" "${result_file}")
+  list(APPEND cmd ${ARG_UNPARSED_ARGUMENTS})
+
+  find_program(yamllint_BIN NAMES "yamllint")
+
+  if(NOT yamllint_BIN)
+    if(${CMAKE_VERSION} VERSION_LESS "3.8.0")
+      message(WARNING "WARNING: 'yamllint' not found, skipping yamllint test creation")
+      return()
+    endif()
+  endif()
+
+  file(MAKE_DIRECTORY "${CMAKE_BINARY_DIR}/ament_yamllint")
+  ament_add_test(
+    "${ARG_TESTNAME}"
+    COMMAND ${cmd}
+    OUTPUT_FILE "${CMAKE_BINARY_DIR}/ament_yamllint/${ARG_TESTNAME}.txt"
+    RESULT_FILE "${result_file}"
+    WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
+  )
+  set_tests_properties(
+    "${ARG_TESTNAME}"
+    PROPERTIES
+    LABELS "yamllint;linter"
+  )
+  if(NOT yamllint_BIN)
+    set_tests_properties(
+      "${ARG_TESTNAME}"
+      PROPERTIES
+      DISABLED TRUE
+    )
+  endif()
+endfunction()
diff --git a/ament_cmake_yamllint/doc/index.rst b/ament_cmake_yamllint/doc/index.rst
new file mode 100644
index 000000000..9af022378
--- /dev/null
+++ b/ament_cmake_yamllint/doc/index.rst
@@ -0,0 +1,37 @@
+ament_yamllint
+==============
+
+Checks YAML files using `yamllint <https://yamllint.readthedocs.io>`_.
+Files with the following extensions are being considered: ``.yaml``, ``.yml``.
+
+
+How to run the check from the command line?
+-------------------------------------------
+
+The command line tool is provided by the package `ament_yamllint
+<https://github.com/ament/ament_lint>`_.
+
+
+How to run the check from within a CMake ament package as part of the tests?
+----------------------------------------------------------------------------
+
+``package.xml``:
+
+.. code:: xml
+
+    <buildtool_depend>ament_cmake</buildtool_depend>
+    <test_depend>ament_cmake_yamllint</test_depend>
+
+``CMakeLists.txt``:
+
+.. code:: cmake
+
+    find_package(ament_cmake REQUIRED)
+    if(BUILD_TESTING)
+      find_package(ament_cmake_yamllint REQUIRED)
+      ament_yamllint()
+    endif()
+
+The documentation of the package `ament_cmake_test
+<https://github.com/ament/ament_cmake>`_ provides more information on testing
+in CMake ament packages.
diff --git a/ament_cmake_yamllint/package.xml b/ament_cmake_yamllint/package.xml
new file mode 100644
index 000000000..88e65e940
--- /dev/null
+++ b/ament_cmake_yamllint/package.xml
@@ -0,0 +1,30 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>ament_cmake_yamllint</name>
+  <version>0.11.3</version>
+  <description>
+    The CMake API for ament_yamllint to check YAML file using yamllint.
+  </description>
+
+  <maintainer email="michael.jeronimo@openrobotics.org">Michael Jeronimo</maintainer>
+  <maintainer email="michel@ekumenlabs.com">Michel Hidalgo</maintainer>
+
+  <license>Apache License 2.0</license>
+
+  <author email="logans@cottsay.net">Scott K Logan</author>
+
+  <buildtool_depend>ament_cmake_core</buildtool_depend>
+  <buildtool_depend>ament_cmake_test</buildtool_depend>
+
+  <buildtool_export_depend>ament_cmake_test</buildtool_export_depend>
+  <buildtool_export_depend>ament_yamllint</buildtool_export_depend>
+
+  <test_depend>ament_cmake_copyright</test_depend>
+  <test_depend>ament_cmake_lint_cmake</test_depend>
+  <test_depend>ament_cmake_xmllint</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/ament_yamllint/CHANGELOG.rst b/ament_yamllint/CHANGELOG.rst
new file mode 100644
index 000000000..e69de29bb
diff --git a/ament_yamllint/ament_yamllint/__init__.py b/ament_yamllint/ament_yamllint/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/ament_yamllint/ament_yamllint/configuration/yamllint.yaml b/ament_yamllint/ament_yamllint/configuration/yamllint.yaml
new file mode 100644
index 000000000..8a8bdd478
--- /dev/null
+++ b/ament_yamllint/ament_yamllint/configuration/yamllint.yaml
@@ -0,0 +1,9 @@
+---
+extends: default
+
+rules:
+  document-start: disable
+  indentation:
+    indent-sequences: consistent
+  line-length: disable
+  new-lines: disable
diff --git a/ament_yamllint/ament_yamllint/main.py b/ament_yamllint/ament_yamllint/main.py
new file mode 100755
index 000000000..6c90d296f
--- /dev/null
+++ b/ament_yamllint/ament_yamllint/main.py
@@ -0,0 +1,275 @@
+#!/usr/bin/env python3
+
+# Copyright 2022 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import argparse
+import errno
+import os
+import re
+import shutil
+import subprocess
+import sys
+import tempfile
+import time
+from xml.sax.saxutils import escape
+from xml.sax.saxutils import quoteattr
+
+import yaml
+
+
+def main(argv=sys.argv[1:]):
+    config_file = os.path.join(
+        os.path.dirname(__file__), 'configuration', 'yamllint.yaml')
+
+    extensions = ['yaml', 'yml']
+
+    parser = argparse.ArgumentParser(
+        description='Check YAML style using YAMLlint.',
+        formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+    parser.add_argument(
+        '-c', '--config',
+        metavar='CFG',
+        default=config_file,
+        dest='config_file',
+        help='The config file')
+    parser.add_argument(
+        '--linelength', metavar='N', type=int,
+        help='The maximum line length (default: specified in the config file)')
+    parser.add_argument(
+        'paths',
+        nargs='*',
+        default=[os.curdir],
+        help='The files or directories to check. For directories files ending '
+             'in %s will be considered.' %
+             ', '.join(["'.%s'" % e for e in extensions]))
+    parser.add_argument(
+        '--exclude',
+        nargs='*',
+        default=[],
+        help='Exclude specific file names and directory names from the check')
+    # not using a file handle directly
+    # in order to prevent leaving an empty file when something fails early
+    parser.add_argument(
+        '--xunit-file',
+        help='Generate a xunit compliant XML file')
+    args = parser.parse_args(argv)
+
+    if not os.path.exists(args.config_file):
+        print("Could not config file '%s'" % args.config_file, file=sys.stderr)
+        return 1
+
+    files = get_files(args.paths, extensions, args.exclude)
+    if not files:
+        print('No files found', file=sys.stderr)
+        return 1
+
+    if args.xunit_file:
+        start_time = time.time()
+
+    with open(args.config_file) as f:
+        yamllint_config = yaml.safe_load(f)
+
+    assert isinstance(yamllint_config, dict), 'Invalid configuration file'
+    yamllint_config['yaml-files'] = ['*.%s' % (ext,) for ext in extensions]
+    if args.linelength is not None:
+        if not isinstance(yamllint_config.get('rules'), dict):
+            yamllint_config['rules'] = {}
+        if not isinstance(yamllint_config['rules'].get('line-length'), dict):
+            yamllint_config['rules']['line-length'] = {}
+        yamllint_config['rules']['line-length']['max'] = args.linelength
+
+    temp_config_fd, temp_config_file = tempfile.mkstemp(suffix='.yaml',
+                                                        prefix='yamllint_')
+    with os.fdopen(temp_config_fd, 'w') as f:
+        yaml.dump(yamllint_config, f)
+
+    try:
+        report = invoke_yamllint(files, config_file=temp_config_file)
+    except:  # noqa: E722
+        raise
+    finally:
+        os.remove(temp_config_file)
+
+    # generate xunit file
+    if args.xunit_file:
+        folder_name = os.path.basename(os.path.dirname(args.xunit_file))
+        file_name = os.path.basename(args.xunit_file)
+        suffix = '.xml'
+        if file_name.endswith(suffix):
+            file_name = file_name[0:-len(suffix)]
+            suffix = '.xunit'
+            if file_name.endswith(suffix):
+                file_name = file_name[0:-len(suffix)]
+        testname = '%s.%s' % (folder_name, file_name)
+
+        xml = get_xunit_content(report, testname, time.time() - start_time)
+        path = os.path.dirname(os.path.abspath(args.xunit_file))
+        if not os.path.exists(path):
+            os.makedirs(path)
+        with open(args.xunit_file, 'w') as f:
+            f.write(xml)
+
+    if any(report.values()):
+        return 1
+
+    print('No problems found, checked %d files' % (len(report),))
+    return 0
+
+
+def get_files(paths, extensions, excludes=[]):
+    files = []
+    for path in paths:
+        if os.path.isdir(path):
+            for dirpath, dirnames, filenames in os.walk(path):
+                if 'AMENT_IGNORE' in dirnames + filenames:
+                    dirnames[:] = []
+                    continue
+                # ignore folder starting with . or _
+                dirnames[:] = [d for d in dirnames if d[0] not in ['.', '_']]
+                # ignore excluded folders
+                dirnames[:] = [d for d in dirnames if d not in excludes]
+                dirnames.sort()
+
+                # select files by extension
+                for filename in sorted(filenames):
+                    if filename in excludes:
+                        continue
+                    _, ext = os.path.splitext(filename)
+                    if ext not in ['.%s' % e for e in extensions]:
+                        continue
+                    files.append(os.path.join(dirpath, filename))
+        if os.path.isfile(path):
+            files.append(path)
+    return [os.path.normpath(f) for f in files]
+
+
+def find_executable(file_name, additional_paths=None):
+    path = None
+    if additional_paths:
+        path = os.getenv('PATH', os.defpath)
+        path += os.path.pathsep + os.path.pathsep.join(additional_paths)
+    return shutil.which(file_name, path=path)
+
+
+def invoke_yamllint(files, yamllint_bin=None, config_file=None):
+    if yamllint_bin is None:
+        yamllint_bin = find_executable('yamllint')
+    if not yamllint_bin:
+        raise FileNotFoundError(
+            errno.ENOENT, 'Could not find executable', 'yamllint')
+
+    cmd = [yamllint_bin, '-s', '-f', 'parsable']
+    if config_file:
+        cmd += ['-c', config_file]
+    cmd += files
+
+    report = {f: [] for f in files}
+    try:
+        subprocess.check_output(cmd)
+    except subprocess.CalledProcessError as e:
+        if e.stderr:
+            print(e.stderr.decode())
+        stdout = e.stdout.decode()
+        print(stdout, end='')
+        if not stdout or e.returncode not in (1, 2):
+            raise
+        parser = re.compile(r'^(.+):(\d+):(\d+): \[(.+)\] (.*) \((.+)\)$')
+        for line in stdout.splitlines():
+            m = parser.match(line)
+            if not m:
+                raise ValueError(
+                    'Failed to parse yamllint output: %s' % (line,))
+            try:
+                report[m.group(1)].append({
+                    'line': int(m.group(2)),
+                    'col': int(m.group(3)),
+                    'severity': m.group(4),
+                    'msg': m.group(5),
+                    'id': m.group(6),
+                })
+            except NameError:
+                raise ValueError(
+                    'Got failures for unknown file: %s' % (m.group(1),))
+
+    return report
+
+
+def get_xunit_content(report, testname, elapsed):
+    test_count = sum(max(len(r), 1) for r in report.values())
+    error_count = sum(len(r) for r in report.values())
+    data = {
+        'testname': testname,
+        'test_count': test_count,
+        'error_count': error_count,
+        'time': '%.3f' % round(elapsed, 3),
+    }
+    xml = """<?xml version="1.0" encoding="UTF-8"?>
+<testsuite
+  name="%(testname)s"
+  tests="%(test_count)d"
+  errors="0"
+  failures="%(error_count)d"
+  time="%(time)s"
+  skipped="0"
+>
+""" % data
+
+    for filename in sorted(report.keys()):
+        errors = report[filename]
+
+        if errors:
+            # report each cppcheck error as a failing testcase
+            for error in errors:
+                data = {
+                    'quoted_name': quoteattr(
+                        '%s: %s (%s:%d:%d)' % (
+                            error['severity'], error['id'],
+                            filename, error['line'], error['col'])),
+                    'testname': testname,
+                    'quoted_message': quoteattr(error['msg']),
+                }
+                xml += """  <testcase
+    name=%(quoted_name)s
+    classname="%(testname)s"
+  >
+      <failure message=%(quoted_message)s/>
+  </testcase>
+""" % data
+
+        else:
+            # if there are no cpplint errors report a single successful test
+            data = {
+                'quoted_location': quoteattr(filename),
+                'testname': testname,
+            }
+            xml += """  <testcase
+    name=%(quoted_location)s
+    classname="%(testname)s"/>
+""" % data
+
+    data = {
+        'escaped_files': escape(
+            ''.join(['\n* %s' % r for r in sorted(report.keys())])
+        ),
+    }
+    xml += """  <system-out>Checked files:%(escaped_files)s</system-out>
+""" % data
+
+    xml += '</testsuite>\n'
+    return xml
+
+
+if __name__ == '__main__':
+    sys.exit(main())
diff --git a/ament_yamllint/ament_yamllint/pytest_marker.py b/ament_yamllint/ament_yamllint/pytest_marker.py
new file mode 100644
index 000000000..7ebb5c89a
--- /dev/null
+++ b/ament_yamllint/ament_yamllint/pytest_marker.py
@@ -0,0 +1,18 @@
+# Copyright 2022 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+def pytest_configure(config):
+    config.addinivalue_line(
+        'markers', 'yamllint: marks tests checking for YAMLlint compliance')
diff --git a/ament_yamllint/package.xml b/ament_yamllint/package.xml
new file mode 100644
index 000000000..52a2875da
--- /dev/null
+++ b/ament_yamllint/package.xml
@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>ament_yamllint</name>
+  <version>0.11.4</version>
+  <description>
+    The ability to check YAML against style conventions using YAMLlint
+    and generate xUnit test result files.
+  </description>
+
+  <maintainer email="michael.jeronimo@openrobotics.org">Michael Jeronimo</maintainer>
+  <maintainer email="michel@ekumenlabs.com">Michel Hidalgo</maintainer>
+
+  <license>Apache License 2.0</license>
+
+  <author email="logans@cottsay.net">Scott K Logan</author>
+
+  <exec_depend>python3-yaml</exec_depend>
+  <exec_depend>yamllint</exec_depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>ament_pycodestyle</test_depend>
+  <test_depend>ament_xmllint</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/ament_yamllint/pytest.ini b/ament_yamllint/pytest.ini
new file mode 100644
index 000000000..fe55d2ed6
--- /dev/null
+++ b/ament_yamllint/pytest.ini
@@ -0,0 +1,2 @@
+[pytest]
+junit_family=xunit2
diff --git a/ament_yamllint/resource/ament_yamllint b/ament_yamllint/resource/ament_yamllint
new file mode 100644
index 000000000..e69de29bb
diff --git a/ament_yamllint/setup.py b/ament_yamllint/setup.py
new file mode 100644
index 000000000..46f347016
--- /dev/null
+++ b/ament_yamllint/setup.py
@@ -0,0 +1,48 @@
+from setuptools import find_packages
+from setuptools import setup
+
+
+package_name = 'ament_yamllint'
+
+setup(
+    name=package_name,
+    version='0.11.4',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/' + package_name, ['package.xml']),
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+    ],
+    install_requires=['PyYAML', 'setuptools'],
+    package_data={'': [
+        'configuration/yamllint.yaml',
+    ]},
+    zip_safe=False,
+    author='Scott K Logan',
+    author_email='logans@cottsay.net',
+    maintainer='Michael Jeronimo, Michel Hidalgo',
+    maintainer_email='michael.jeronimo@openrobotics.org, michel@ekumenlabs.com',
+    url='https://github.com/ament/ament_lint',
+    download_url='https://github.com/ament/ament_lint/releases',
+    keywords=['ROS'],
+    classifiers=[
+        'Intended Audience :: Developers',
+        'License :: OSI Approved :: Apache Software License',
+        'Programming Language :: Python',
+        'Topic :: Software Development',
+    ],
+    description='Check YAML style using YAMLlint.',
+    long_description="""\
+The ability to check YAML against style conventions using YAMLlint
+and generate xUnit test result files.""",
+    license='Apache License, Version 2.0',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'ament_yamllint = ament_yamllint.main:main',
+        ],
+        'pytest11': [
+            'ament_yamllint = ament_yamllint.pytest_marker',
+        ],
+    },
+)
diff --git a/ament_yamllint/test/test_copyright.py b/ament_yamllint/test/test_copyright.py
new file mode 100644
index 000000000..4962484ea
--- /dev/null
+++ b/ament_yamllint/test/test_copyright.py
@@ -0,0 +1,23 @@
+# Copyright 2021 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'
diff --git a/ament_yamllint/test/test_flake8.py b/ament_yamllint/test/test_flake8.py
new file mode 100644
index 000000000..4d62a9ca2
--- /dev/null
+++ b/ament_yamllint/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2021 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)
diff --git a/ament_yamllint/test/test_pep257.py b/ament_yamllint/test/test_pep257.py
new file mode 100644
index 000000000..f7ef98bbe
--- /dev/null
+++ b/ament_yamllint/test/test_pep257.py
@@ -0,0 +1,23 @@
+# Copyright 2021 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'
diff --git a/ament_yamllint/test/test_pycodestyle.py b/ament_yamllint/test/test_pycodestyle.py
new file mode 100644
index 000000000..d0b4be08b
--- /dev/null
+++ b/ament_yamllint/test/test_pycodestyle.py
@@ -0,0 +1,22 @@
+# Copyright 2021 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pycodestyle.main import main
+import pytest
+
+
+@pytest.mark.linter
+def test_pycodestyle():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'
diff --git a/ament_yamllint/test/test_xmllint.py b/ament_yamllint/test/test_xmllint.py
new file mode 100644
index 000000000..8fea40215
--- /dev/null
+++ b/ament_yamllint/test/test_xmllint.py
@@ -0,0 +1,23 @@
+# Copyright 2022 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_xmllint.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.xmllint
+def test_xmllint():
+    rc = main(argv=[])
+    assert rc == 0, 'Found XML style errors / warnings'
diff --git a/ament_yamllint/test/test_yamllint.py b/ament_yamllint/test/test_yamllint.py
new file mode 100644
index 000000000..a0db16c3d
--- /dev/null
+++ b/ament_yamllint/test/test_yamllint.py
@@ -0,0 +1,23 @@
+# Copyright 2022 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_yamllint.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.yamllint
+def test_yamllint():
+    rc = main(argv=[])
+    assert rc == 0, 'Found YAML style errors / warnings'