diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index 4aaea95..7108bab 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -20,5 +20,4 @@ jobs:
         rmf_visualization_obstacles
         rmf_visualization_rviz2_plugins
         rmf_visualization_schedule
-      dist-matrix: '[{"ros_distribution": "rolling", "ubuntu_distribution": "noble"}]'
 
diff --git a/.github/workflows/style.yaml b/.github/workflows/style.yaml
deleted file mode 100644
index 91f310c..0000000
--- a/.github/workflows/style.yaml
+++ /dev/null
@@ -1,22 +0,0 @@
-name: style
-on:
-  pull_request:
-defaults:
-  run:
-    shell: bash
-jobs:
-  linter:
-    runs-on: ubuntu-latest
-    strategy:
-      matrix:
-        docker_image: ['ros:rolling-ros-base']
-    container:
-      image: ${{ matrix.docker_image }}
-    steps:
-      - name: checkout
-        uses: actions/checkout@v2
-      - name: uncrustify
-        run: |
-          sudo apt update && sudo apt install wget
-          wget https://raw.githubusercontent.com/open-rmf/rmf_utils/main/rmf_utils/test/format/rmf_code_style.cfg
-          /ros_entrypoint.sh ament_uncrustify -c rmf_code_style.cfg . --language C++ --exclude rmf_visualization_schedule/include/json.hpp rmf_visualization_schedule/include/jwt/* rmf_visualization_schedule/include/jwt/*/*
diff --git a/rmf_visualization_building_systems/setup.py b/rmf_visualization_building_systems/setup.py
index d45fc60..f476f26 100644
--- a/rmf_visualization_building_systems/setup.py
+++ b/rmf_visualization_building_systems/setup.py
@@ -17,7 +17,9 @@
     maintainer_email='yadunund@openrobotics.org',
     description='A visualizer for doors and lifts',
     license='Apache License, Version 2.0',
-    tests_require=['pytest'],
+    extras_require={
+        'test': ['pytest'],
+    },
     entry_points={
         'console_scripts': [
             'rmf_visualization_building_systems = \
diff --git a/rmf_visualization_fleet_states/CMakeLists.txt b/rmf_visualization_fleet_states/CMakeLists.txt
index 9328dca..74b88ec 100644
--- a/rmf_visualization_fleet_states/CMakeLists.txt
+++ b/rmf_visualization_fleet_states/CMakeLists.txt
@@ -45,7 +45,8 @@ rclcpp_components_register_node(fleetstates_visualizer
   EXECUTABLE fleetstates_visualizer_node)
 
 #===============================================================================
-if(BUILD_TESTING)
+option(STYLE_TEST "Run uncrustify to evaluate the code style")
+if(BUILD_TESTING AND STYLE_TEST)
   find_package(ament_cmake_uncrustify REQUIRED)
   find_package(rmf_utils REQUIRED)
   find_file(uncrustify_config_file
diff --git a/rmf_visualization_floorplans/CMakeLists.txt b/rmf_visualization_floorplans/CMakeLists.txt
index f498d45..2f8b667 100644
--- a/rmf_visualization_floorplans/CMakeLists.txt
+++ b/rmf_visualization_floorplans/CMakeLists.txt
@@ -51,7 +51,8 @@ rclcpp_components_register_node(floorplan_visualizer
   EXECUTABLE floorplan_visualizer_node)
 
 #===============================================================================
-if(BUILD_TESTING)
+option(STYLE_TEST "Run uncrustify to evaluate the code style")
+if(BUILD_TESTING AND STYLE_TEST)
   find_package(ament_cmake_uncrustify REQUIRED)
   find_package(rmf_utils REQUIRED)
   find_file(uncrustify_config_file
diff --git a/rmf_visualization_navgraphs/CMakeLists.txt b/rmf_visualization_navgraphs/CMakeLists.txt
index 2b0b258..06eccd3 100644
--- a/rmf_visualization_navgraphs/CMakeLists.txt
+++ b/rmf_visualization_navgraphs/CMakeLists.txt
@@ -51,7 +51,8 @@ rclcpp_components_register_node(navgraph_visualizer
   EXECUTABLE navgraph_visualizer_node)
 
 #===============================================================================
-if(BUILD_TESTING)
+option(STYLE_TEST "Run uncrustify to evaluate the code style")
+if(BUILD_TESTING AND STYLE_TEST)
   find_package(ament_cmake_uncrustify REQUIRED)
   find_package(rmf_utils REQUIRED)
   find_file(uncrustify_config_file
diff --git a/rmf_visualization_obstacles/CMakeLists.txt b/rmf_visualization_obstacles/CMakeLists.txt
index 30d6dd6..5ca37a8 100644
--- a/rmf_visualization_obstacles/CMakeLists.txt
+++ b/rmf_visualization_obstacles/CMakeLists.txt
@@ -36,7 +36,8 @@ rclcpp_components_register_node(obstacle_visualizer
   EXECUTABLE obstacle_visualizer_node)
 
 #===============================================================================
-if(BUILD_TESTING)
+option(STYLE_TEST "Run uncrustify to evaluate the code style")
+if(BUILD_TESTING AND STYLE_TEST)
   find_package(ament_cmake_uncrustify REQUIRED)
   find_package(rmf_utils REQUIRED)
   find_file(uncrustify_config_file
diff --git a/rmf_visualization_rviz2_plugins/CMakeLists.txt b/rmf_visualization_rviz2_plugins/CMakeLists.txt
index aefb05e..26253d7 100644
--- a/rmf_visualization_rviz2_plugins/CMakeLists.txt
+++ b/rmf_visualization_rviz2_plugins/CMakeLists.txt
@@ -32,7 +32,8 @@ find_package(rviz_rendering REQUIRED)
 find_package(rviz_default_plugins REQUIRED)
 find_package(rmf_traffic_ros2 REQUIRED)
 
-if(BUILD_TESTING)
+option(STYLE_TEST "Run uncrustify to evaluate the code style")
+if(BUILD_TESTING AND STYLE_TEST)
   find_package(ament_cmake_uncrustify REQUIRED)
   find_package(rmf_utils REQUIRED)
   find_file(uncrustify_config_file
diff --git a/rmf_visualization_schedule/CMakeLists.txt b/rmf_visualization_schedule/CMakeLists.txt
index c2da8e2..348db60 100644
--- a/rmf_visualization_schedule/CMakeLists.txt
+++ b/rmf_visualization_schedule/CMakeLists.txt
@@ -30,7 +30,8 @@ find_package(rmf_visualization_msgs REQUIRED)
 find_package(Eigen3 REQUIRED)
 find_package(Threads)
 
-if(BUILD_TESTING)
+option(STYLE_TEST "Run uncrustify to evaluate the code style")
+if(BUILD_TESTING AND STYLE_TEST)
   find_package(ament_cmake_uncrustify REQUIRED)
   find_package(rmf_utils REQUIRED)
   find_file(uncrustify_config_file