diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index 4049bb949..9916c22b2 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -36,7 +36,7 @@ jobs:
       with:
         colcon-mixin-name: asan
         colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-        package-name: ament_copyright
+        package-name: ament_copyright ament_lint
     - uses: actions/upload-artifact@master
       with:
         name: colcon-logs
diff --git a/action.yml b/action.yml
index f194b561f..43ce693c5 100644
--- a/action.yml
+++ b/action.yml
@@ -14,7 +14,10 @@ inputs:
     description: 'Mixin repository containing the mixin specified in colcon-mixin-name'
     required: false
   package-name:
-    description: 'Name of the package under test, as expected by colcon'
+    description: |
+        Name of the package(s) under test, as expected by colcon.
+        Passing multiple package names is allowed.
+        Package names can be separated by any whitespace character.
     required: true
 runs:
   using: 'node12'
diff --git a/dist/index.js b/dist/index.js
index 1cfbc68e3..278166e90 100644
--- a/dist/index.js
+++ b/dist/index.js
@@ -4783,7 +4783,8 @@ function run() {
             const workspace = process.env.GITHUB_WORKSPACE;
             const colconMixinName = core.getInput("colcon-mixin-name");
             const colconMixinRepo = core.getInput("colcon-mixin-repository");
-            const packageName = core.getInput("package-name");
+            const packageName = core.getInput("package-name", { required: true });
+            const packageNameList = packageName.split(RegExp('\\s'));
             const ros2WorkspaceDir = path.join(workspace, "ros2_ws");
             // rosdep on Windows does not reliably work on Windows, see
             // ros-infrastructure/rosdep#610 for instance. So, we do not run it.
@@ -4830,7 +4831,7 @@ EOF`
             // avoid having rosdep installing unrequired dependencies.
             yield exec.exec("bash", [
                 "-c",
-                `diff --new-line-format="" --unchanged-line-format="" <(colcon list -p) <(colcon list --packages-up-to ${packageName} -p) | xargs rm -rf`
+                `diff --new-line-format="" --unchanged-line-format="" <(colcon list -p) <(colcon list --packages-up-to ${packageNameList.join(' ')} -p) | xargs rm -rf`
             ], options);
             // For "latest" builds, rosdep often misses some keys, adding "|| true", to
             // ignore those failures, as it is often non-critical.
@@ -4864,10 +4865,9 @@ EOF`
                 "build",
                 "--event-handlers",
                 "console_cohesion+",
-                "--packages-up-to",
-                packageName,
-                "--symlink-install"
-            ].concat(extra_options), options);
+                "--symlink-install",
+                "--packages-up-to"
+            ].concat(packageNameList).concat(extra_options), options);
             yield exec.exec("colcon", [
                 "test",
                 "--event-handlers",
@@ -4875,13 +4875,12 @@ EOF`
                 "--pytest-args",
                 "'--cov=.'",
                 "'--cov-report=xml'",
-                "--packages-select",
-                packageName,
-                "--return-code-on-test-failure"
-            ].concat(extra_options), options);
+                "--return-code-on-test-failure",
+                "--packages-select"
+            ].concat(packageNameList).concat(extra_options), options);
             // ignoreReturnCode is set to true to avoid  having a lack of coverage
             // data fail the build.
-            yield exec.exec("colcon", ["lcov-result", "--packages-select", packageName], { ignoreReturnCode: true });
+            yield exec.exec("colcon", ["lcov-result", "--packages-select"].concat(packageNameList), { ignoreReturnCode: true });
         }
         catch (error) {
             core.setFailed(error.message);
diff --git a/src/action-ros2-ci.ts b/src/action-ros2-ci.ts
index 3286ae436..198f62efe 100644
--- a/src/action-ros2-ci.ts
+++ b/src/action-ros2-ci.ts
@@ -11,7 +11,8 @@ async function run() {
 
 		const colconMixinName = core.getInput("colcon-mixin-name");
 		const colconMixinRepo = core.getInput("colcon-mixin-repository");
-		const packageName = core.getInput("package-name");
+		const packageName = core.getInput("package-name", { required: true });
+		const packageNameList = packageName.split(RegExp("\\s"));
 		const ros2WorkspaceDir = path.join(workspace, "ros2_ws");
 
 		// rosdep on Windows does not reliably work on Windows, see
@@ -74,7 +75,9 @@ EOF`
 			"bash",
 			[
 				"-c",
-				`diff --new-line-format="" --unchanged-line-format="" <(colcon list -p) <(colcon list --packages-up-to ${packageName} -p) | xargs rm -rf`
+				`diff --new-line-format="" --unchanged-line-format="" <(colcon list -p) <(colcon list --packages-up-to ${packageNameList.join(
+					" "
+				)} -p) | xargs rm -rf`
 			],
 			options
 		);
@@ -121,10 +124,11 @@ EOF`
 				"build",
 				"--event-handlers",
 				"console_cohesion+",
-				"--packages-up-to",
-				packageName,
-				"--symlink-install"
-			].concat(extra_options),
+				"--symlink-install",
+				"--packages-up-to"
+			]
+				.concat(packageNameList)
+				.concat(extra_options),
 			options
 		);
 		await exec.exec(
@@ -136,10 +140,11 @@ EOF`
 				"--pytest-args",
 				"'--cov=.'",
 				"'--cov-report=xml'",
-				"--packages-select",
-				packageName,
-				"--return-code-on-test-failure"
-			].concat(extra_options),
+				"--return-code-on-test-failure",
+				"--packages-select"
+			]
+				.concat(packageNameList)
+				.concat(extra_options),
 			options
 		);
 
@@ -147,7 +152,7 @@ EOF`
 		// data fail the build.
 		await exec.exec(
 			"colcon",
-			["lcov-result", "--packages-select", packageName],
+			["lcov-result", "--packages-select"].concat(packageNameList),
 			{ ignoreReturnCode: true }
 		);
 	} catch (error) {