diff --git a/vinca_linux_64.yaml b/vinca_linux_64.yaml
index 9badfcae..ad801fcd 100644
--- a/vinca_linux_64.yaml
+++ b/vinca_linux_64.yaml
@@ -126,6 +126,7 @@ packages_select_by_deps:
   - stubborn_buddies    # Open RMF
   - ament_cmake_catch2  # Open RMF
   - ament_cmake_vendor_package # Requested in https://github.com/RoboStack/ros-humble/pull/210
+  - ament_cmake_mypy
 
   # - transport_drivers 
   - asio_cmake_module
diff --git a/vinca_linux_aarch64.yaml b/vinca_linux_aarch64.yaml
index e4a538d9..25865c93 100644
--- a/vinca_linux_aarch64.yaml
+++ b/vinca_linux_aarch64.yaml
@@ -78,6 +78,7 @@ packages_select_by_deps:
   - rviz2
   - behaviortree_cpp_v3
   - ament_cmake_catch2
+  - ament_cmake_mypy
 
   - apriltag
   - apriltag_ros
diff --git a/vinca_osx.yaml b/vinca_osx.yaml
index 15e727dd..b8122825 100644
--- a/vinca_osx.yaml
+++ b/vinca_osx.yaml
@@ -83,6 +83,7 @@ packages_select_by_deps:
   - vision-opencv
   - ackermann-msgs
   - ament_cmake_catch2
+  - ament_cmake_mypy
 
   - gazebo_msgs
   - gazebo_dev
diff --git a/vinca_osx_arm64.yaml b/vinca_osx_arm64.yaml
index f6360110..d241a484 100644
--- a/vinca_osx_arm64.yaml
+++ b/vinca_osx_arm64.yaml
@@ -81,6 +81,7 @@ packages_select_by_deps:
   - plotjuggler-msgs
 
   - ament_cmake_catch2
+  - ament_cmake_mypy
 
   - apriltag
   - apriltag_ros
diff --git a/vinca_win.yaml b/vinca_win.yaml
index db438447..6597c709 100644
--- a/vinca_win.yaml
+++ b/vinca_win.yaml
@@ -198,6 +198,7 @@ packages_select_by_deps:
   - stubborn_buddies    # Open RMF
   - ament_cmake_catch2  # Open RMF
   - ament_cmake_vendor_package # Requested in https://github.com/RoboStack/ros-humble/pull/210
+  - ament_cmake_mypy
 
   # - transport_drivers
   - asio_cmake_module