diff --git a/cascade_lifecycle_msgs/CMakeLists.txt b/cascade_lifecycle_msgs/CMakeLists.txt
index 80080ae..426c03d 100644
--- a/cascade_lifecycle_msgs/CMakeLists.txt
+++ b/cascade_lifecycle_msgs/CMakeLists.txt
@@ -1,6 +1,16 @@
 cmake_minimum_required(VERSION 3.5)
+
 project(cascade_lifecycle_msgs)
 
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
 find_package(ament_cmake REQUIRED)
 find_package(builtin_interfaces REQUIRED)
 find_package(lifecycle_msgs REQUIRED)
@@ -10,6 +20,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/Activation.msg" 
   "msg/State.msg" 
  DEPENDENCIES builtin_interfaces lifecycle_msgs
+ ADD_LINTER_TESTS
 )
 
 ament_export_dependencies(rosidl_default_runtime lifecycle_msgs builtin_interfaces)
diff --git a/cascade_lifecycle_msgs/package.xml b/cascade_lifecycle_msgs/package.xml
index 7f5cc59..37d8a58 100644
--- a/cascade_lifecycle_msgs/package.xml
+++ b/cascade_lifecycle_msgs/package.xml
@@ -12,10 +12,13 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>rclcpp</depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
   <depend>builtin_interfaces</depend>
   <depend>lifecycle_msgs</depend>
-  <depend>rosidl_default_generators</depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <test_depend>ament_lint_common</test_depend>
 
   <member_of_group>rosidl_interface_packages</member_of_group>