diff --git a/rosidl_cli/package.xml b/rosidl_cli/package.xml
index 591e702f3..f7afa44f3 100644
--- a/rosidl_cli/package.xml
+++ b/rosidl_cli/package.xml
@@ -22,6 +22,7 @@
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_mypy</test_depend>
   <test_depend>ament_pep257</test_depend>
   <test_depend>ament_xmllint</test_depend>
   <test_depend>python3-pytest</test_depend>