diff --git a/rclcpp/test/CMakeLists.txt b/rclcpp/test/CMakeLists.txt
index c5be0d8103..dbc69af3a8 100644
--- a/rclcpp/test/CMakeLists.txt
+++ b/rclcpp/test/CMakeLists.txt
@@ -1,3 +1,4 @@
+find_package(mimick_vendor REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 
 find_package(test_msgs REQUIRED)
diff --git a/rclcpp_action/CMakeLists.txt b/rclcpp_action/CMakeLists.txt
index dd70532156..e952224fe6 100644
--- a/rclcpp_action/CMakeLists.txt
+++ b/rclcpp_action/CMakeLists.txt
@@ -72,6 +72,7 @@ ament_export_dependencies(action_msgs rcl_action rclcpp rosidl_runtime_c)
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
   find_package(ament_lint_auto REQUIRED)
+  find_package(mimick_vendor REQUIRED)
   ament_lint_auto_find_test_dependencies()
 
   add_subdirectory(test/benchmark)
diff --git a/rclcpp_lifecycle/CMakeLists.txt b/rclcpp_lifecycle/CMakeLists.txt
index 7e153f34f2..e9d94f1d33 100644
--- a/rclcpp_lifecycle/CMakeLists.txt
+++ b/rclcpp_lifecycle/CMakeLists.txt
@@ -59,6 +59,7 @@ if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
 
+  find_package(mimick_vendor REQUIRED)
   find_package(performance_test_fixture REQUIRED)
 
   add_performance_test(