diff --git a/.github/workflows/ros_ci.yml b/.github/workflows/ros_ci.yml
index ed2edd2c..096e11cc 100644
--- a/.github/workflows/ros_ci.yml
+++ b/.github/workflows/ros_ci.yml
@@ -37,6 +37,7 @@ jobs:
         env:
           - {ROS_DISTRO: humble}
           - {ROS_DISTRO: jazzy}
+          - {ROS_DISTRO: kilted}
           - {ROS_DISTRO: rolling}
     env:
       # PRERELEASE: true  # Fails due to issues in the underlying Docker image
diff --git a/CHANGELOG.md b/CHANGELOG.md
index e89b3114..f29bc668 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -12,6 +12,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ### Added
 - Support for Python slice, tuple and list indexing for `std::vector` bindings ([#592](https://github.com/stack-of-tasks/eigenpy/pull/592))
+- ROS: jrl_cmakmodules dependency + kilted CI ([#602](https://github.com/stack-of-tasks/eigenpy/pull/602))
 
 ### Fixed
 - Fix partly the support of the change of API of GeneralizedEigenSolver in Eigen 5+ ([#594](https://github.com/stack-of-tasks/eigenpy/pull/594))
diff --git a/package.xml b/package.xml
index edf3666d..7ae8094b 100644
--- a/package.xml
+++ b/package.xml
@@ -8,12 +8,13 @@
   <maintainer email="guilhem.saurel@laas.fr">Guilhem Saurel</maintainer>
   <author>Justin Carpentier</author>
   <author>Nicolas Mansard</author>
-  <license>BSD</license>
+  <license>BSD-2-Clause</license>
 
   <url type="website">https://github.com/stack-of-tasks/eigenpy</url>
 
   <build_depend>git</build_depend>
   <build_depend>doxygen</build_depend>
+  <build_depend>jrl_cmakemodules</build_depend>
 
   <depend>python3</depend>
   <depend>python3-numpy</depend>