diff --git a/smach_msgs/CMakeLists.txt b/smach_msgs/CMakeLists.txt
index b617218..e5fd5aa 100644
--- a/smach_msgs/CMakeLists.txt
+++ b/smach_msgs/CMakeLists.txt
@@ -4,7 +4,8 @@ project(smach_msgs)
 
 set(AMENT_DEPS
   ament_cmake
-  ament_cmake_flake8)
+  ament_cmake_flake8
+  ament_cmake_pep257)
 foreach(dep IN ITEMS ${AMENT_DEPS})
   find_package(${dep} REQUIRED)
 endforeach()
diff --git a/smach_msgs/package.xml b/smach_msgs/package.xml
index ccb0e11..cb00c7b 100644
--- a/smach_msgs/package.xml
+++ b/smach_msgs/package.xml
@@ -27,6 +27,7 @@
 
   <test_depend>ament_cmake_cpplint</test_depend>
   <test_depend>ament_cmake_flake8</test_depend>
+  <test_depend>ament_cmake_pep257</test_depend>
   <test_depend>ament_cmake_uncrustify</test_depend>
   <test_depend>ament_lint</test_depend>