diff --git a/.github/workflows/build_and_test.yml b/.github/workflows/build_and_test.yml
index 19734367..91435487 100644
--- a/.github/workflows/build_and_test.yml
+++ b/.github/workflows/build_and_test.yml
@@ -1,20 +1,40 @@
 name: CI
 
-on: [push]
+on: [push, pull_request]
 
 jobs:
-  build_and_test:
+  linux_build_and_test:
     runs-on: ubuntu-18.04
     steps:
+    - uses: actions/checkout@v2
     - name: Install Java
       run: |
         sudo apt update -qq
         sudo apt install -y default-jdk
-    - uses: ros-tooling/setup-ros@0.0.14
+    - uses: ros-tooling/setup-ros@0.0.24
       with:
         required-ros-distributions: dashing
-    - uses: ros-tooling/action-ros-ci@8d58122
+    - uses: ros-tooling/action-ros-ci@658ebdf
       with:
         package-name: rosidl_generator_java rcljava_common rcljava
         source-ros-binary-installation: dashing
-        vcs-repo-file-url: https://raw.githubusercontent.com/ros2-java/ros2_java/dashing/ros2_java_desktop.repos
+        vcs-repo-file-url: "${{ github.workspace }}/ros2_java_desktop.repos"
+  windows_build_and_test:
+    runs-on: windows-latest
+    steps:
+    - uses: actions/checkout@v2
+    - uses: actions/setup-java@v1
+      with:
+        java-version: '11.0.6' # The JDK version to make available on the path.
+        java-package: jdk
+        architecture: x64
+    - uses: ros-tooling/setup-ros@0.0.24
+      with:
+        required-ros-distributions: dashing
+    - uses: ros-tooling/action-ros-ci@658ebdf
+      with:
+        colcon-extra-args: --merge-install
+        package-name: rosidl_generator_java rcljava_common rcljava
+        vcs-repo-file-url: |
+            https://raw.githubusercontent.com/ros2/ros2/dashing/ros2.repos
+            ${{ github.workspace }}\ros2_java_desktop.repos
diff --git a/ament_cmake_export_jars/package.xml b/ament_cmake_export_jars/package.xml
index 97030832..925256a2 100644
--- a/ament_cmake_export_jars/package.xml
+++ b/ament_cmake_export_jars/package.xml
@@ -18,8 +18,10 @@
   <build_depend>ament_java_resources</build_depend>
   <exec_depend>ament_java_resources</exec_depend>
 
+  <test_depend>ament_cmake_copyright</test_depend>
+  <test_depend>ament_cmake_lint_cmake</test_depend>
+  <test_depend>ament_cmake_xmllint</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/ament_cmake_export_jni_libraries/package.xml b/ament_cmake_export_jni_libraries/package.xml
index 5c6c8a6a..58df81c0 100644
--- a/ament_cmake_export_jni_libraries/package.xml
+++ b/ament_cmake_export_jni_libraries/package.xml
@@ -18,8 +18,10 @@
   <build_depend>ament_java_resources</build_depend>
   <exec_depend>ament_java_resources</exec_depend>
 
+  <test_depend>ament_cmake_copyright</test_depend>
+  <test_depend>ament_cmake_lint_cmake</test_depend>
+  <test_depend>ament_cmake_xmllint</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/rcljava/package.xml b/rcljava/package.xml
index 90da562f..433a9d6b 100644
--- a/rcljava/package.xml
+++ b/rcljava/package.xml
@@ -34,8 +34,12 @@
   <exec_depend>rosidl_generator_c</exec_depend>
   <exec_depend>rosidl_parser</exec_depend>
 
+  <test_depend>ament_cmake_copyright</test_depend>
+  <test_depend>ament_cmake_cppcheck</test_depend>
+  <test_depend>ament_cmake_lint_cmake</test_depend>
+  <test_depend>ament_cmake_uncrustify</test_depend>
+  <test_depend>ament_cmake_xmllint</test_depend>
   <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
   <test_depend>builtin_interfaces</test_depend>
   <test_depend>rcl_interfaces</test_depend>
   <test_depend>rcljava_common</test_depend>
diff --git a/rcljava_common/package.xml b/rcljava_common/package.xml
index 649b90cc..d388c3d8 100644
--- a/rcljava_common/package.xml
+++ b/rcljava_common/package.xml
@@ -12,8 +12,12 @@
   <buildtool_depend>ament_cmake_export_libraries</buildtool_depend>
   <buildtool_export_depend>rosidl_cmake</buildtool_export_depend>
 
+  <test_depend>ament_cmake_copyright</test_depend>
+  <test_depend>ament_cmake_cppcheck</test_depend>
+  <test_depend>ament_cmake_lint_cmake</test_depend>
+  <test_depend>ament_cmake_uncrustify</test_depend>
+  <test_depend>ament_cmake_xmllint</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/rosidl_generator_java/package.xml b/rosidl_generator_java/package.xml
index deffa059..9924c76a 100644
--- a/rosidl_generator_java/package.xml
+++ b/rosidl_generator_java/package.xml
@@ -27,9 +27,16 @@
   <exec_depend>rosidl_generator_c</exec_depend>
   <exec_depend>rosidl_parser</exec_depend>
 
+  <test_depend>ament_cmake_copyright</test_depend>
+  <test_depend>ament_cmake_cppcheck</test_depend>
+  <!-- TODO(jacobperron): Re-enable after https://github.com/ament/ament_lint/pull/252 -->
+  <!--test_depend>ament_cmake_flake8</test_depend-->
   <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_lint_cmake</test_depend>
+  <test_depend>ament_cmake_pep257</test_depend>
+  <test_depend>ament_cmake_uncrustify</test_depend>
+  <test_depend>ament_cmake_xmllint</test_depend>
   <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
 
   <test_depend>rmw_implementation</test_depend>
   <test_depend>rmw_implementation_cmake</test_depend>