diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml
index 4f9781e75ad..bed7460ef7e 100644
--- a/.github/workflows/lint.yml
+++ b/.github/workflows/lint.yml
@@ -30,6 +30,7 @@ jobs:
         mypy_packages:
           - "nav2_smac_planner"
           - "nav2_common"
+          - "nav2_bringup"
     steps:
     - uses: actions/checkout@v4
 
diff --git a/nav2_bringup/launch/bringup_launch.py b/nav2_bringup/launch/bringup_launch.py
index ffbfd1bf8cc..8efd9b490f9 100644
--- a/nav2_bringup/launch/bringup_launch.py
+++ b/nav2_bringup/launch/bringup_launch.py
@@ -26,7 +26,7 @@
 from nav2_common.launch import RewrittenYaml
 
 
-def generate_launch_description():
+def generate_launch_description() -> LaunchDescription:
     # Get the launch directory
     bringup_dir = get_package_share_directory('nav2_bringup')
     launch_dir = os.path.join(bringup_dir, 'launch')
diff --git a/nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py b/nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py
index a588fdd63e2..2bd90b5262e 100644
--- a/nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py
+++ b/nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py
@@ -49,7 +49,7 @@ def count_robots(context: LaunchContext) -> list[LogInfo]:
     return [LogInfo(msg=[log_msg])]
 
 
-def generate_robot_actions(name: str = '', pose: dict = {}) -> list[GroupAction]:
+def generate_robot_actions(name: str = '', pose: dict[str, float] = {}) -> list[GroupAction]:
     """Generate the actions to launch a robot with the given name and pose."""
     bringup_dir = get_package_share_directory('nav2_bringup')
     launch_dir = os.path.join(bringup_dir, 'launch')
@@ -104,7 +104,7 @@ def generate_robot_actions(name: str = '', pose: dict = {}) -> list[GroupAction]
     return [group]
 
 
-def generate_launch_description():
+def generate_launch_description() -> LaunchDescription:
     """
     Bring up the multi-robots with given launch arguments.
 
diff --git a/nav2_bringup/launch/localization_launch.py b/nav2_bringup/launch/localization_launch.py
index 87134e19d0c..9a7fded30c2 100644
--- a/nav2_bringup/launch/localization_launch.py
+++ b/nav2_bringup/launch/localization_launch.py
@@ -25,7 +25,7 @@
 from nav2_common.launch import RewrittenYaml
 
 
-def generate_launch_description():
+def generate_launch_description() -> LaunchDescription:
     # Get the launch directory
     bringup_dir = get_package_share_directory('nav2_bringup')
 
diff --git a/nav2_bringup/launch/navigation_launch.py b/nav2_bringup/launch/navigation_launch.py
index f8d08a4ac26..31c543cbeb8 100644
--- a/nav2_bringup/launch/navigation_launch.py
+++ b/nav2_bringup/launch/navigation_launch.py
@@ -24,7 +24,7 @@
 from nav2_common.launch import RewrittenYaml
 
 
-def generate_launch_description():
+def generate_launch_description() -> LaunchDescription:
     # Get the launch directory
     bringup_dir = get_package_share_directory('nav2_bringup')
 
diff --git a/nav2_bringup/launch/rviz_launch.py b/nav2_bringup/launch/rviz_launch.py
index 1cda9d6ea7a..8d5e3e154c0 100644
--- a/nav2_bringup/launch/rviz_launch.py
+++ b/nav2_bringup/launch/rviz_launch.py
@@ -23,7 +23,7 @@
 from launch_ros.actions import Node
 
 
-def generate_launch_description():
+def generate_launch_description() -> LaunchDescription:
     # Get the launch directory
     bringup_dir = get_package_share_directory('nav2_bringup')
 
diff --git a/nav2_bringup/launch/slam_launch.py b/nav2_bringup/launch/slam_launch.py
index 7d851577252..21070e91cc4 100644
--- a/nav2_bringup/launch/slam_launch.py
+++ b/nav2_bringup/launch/slam_launch.py
@@ -25,7 +25,7 @@
 from nav2_common.launch import HasNodeParams, RewrittenYaml
 
 
-def generate_launch_description():
+def generate_launch_description() -> LaunchDescription:
     # Input parameters declaration
     namespace = LaunchConfiguration('namespace')
     params_file = LaunchConfiguration('params_file')
diff --git a/nav2_bringup/launch/tb3_loopback_simulation_launch.py b/nav2_bringup/launch/tb3_loopback_simulation_launch.py
index f32114eb29a..8e1f6176568 100644
--- a/nav2_bringup/launch/tb3_loopback_simulation_launch.py
+++ b/nav2_bringup/launch/tb3_loopback_simulation_launch.py
@@ -27,7 +27,7 @@
 from nav2_common.launch import RewrittenYaml
 
 
-def generate_launch_description():
+def generate_launch_description() -> LaunchDescription:
     # Get the launch directory
     bringup_dir = get_package_share_directory('nav2_bringup')
     loopback_sim_dir = get_package_share_directory('nav2_loopback_sim')
diff --git a/nav2_bringup/launch/tb3_simulation_launch.py b/nav2_bringup/launch/tb3_simulation_launch.py
index ed12d8bcea2..1a9698ba149 100644
--- a/nav2_bringup/launch/tb3_simulation_launch.py
+++ b/nav2_bringup/launch/tb3_simulation_launch.py
@@ -28,7 +28,7 @@
 from launch_ros.actions import Node
 
 
-def generate_launch_description():
+def generate_launch_description() -> LaunchDescription:
     # Get the launch directory
     bringup_dir = get_package_share_directory('nav2_bringup')
     launch_dir = os.path.join(bringup_dir, 'launch')
diff --git a/nav2_bringup/launch/tb4_loopback_simulation_launch.py b/nav2_bringup/launch/tb4_loopback_simulation_launch.py
index aeb966c8a6e..07866736123 100644
--- a/nav2_bringup/launch/tb4_loopback_simulation_launch.py
+++ b/nav2_bringup/launch/tb4_loopback_simulation_launch.py
@@ -27,7 +27,7 @@
 from nav2_common.launch import RewrittenYaml
 
 
-def generate_launch_description():
+def generate_launch_description() -> LaunchDescription:
     # Get the launch directory
     bringup_dir = get_package_share_directory('nav2_bringup')
     loopback_sim_dir = get_package_share_directory('nav2_loopback_sim')
diff --git a/nav2_bringup/launch/tb4_simulation_launch.py b/nav2_bringup/launch/tb4_simulation_launch.py
index f71b3e950e0..5bc0db49835 100644
--- a/nav2_bringup/launch/tb4_simulation_launch.py
+++ b/nav2_bringup/launch/tb4_simulation_launch.py
@@ -28,7 +28,7 @@
 from launch_ros.actions import Node
 
 
-def generate_launch_description():
+def generate_launch_description() -> LaunchDescription:
     # Get the launch directory
     bringup_dir = get_package_share_directory('nav2_bringup')
     launch_dir = os.path.join(bringup_dir, 'launch')
diff --git a/nav2_bringup/launch/unique_multi_tb3_simulation_launch.py b/nav2_bringup/launch/unique_multi_tb3_simulation_launch.py
index 838c69f3a9e..e0cdc96f9d4 100644
--- a/nav2_bringup/launch/unique_multi_tb3_simulation_launch.py
+++ b/nav2_bringup/launch/unique_multi_tb3_simulation_launch.py
@@ -35,7 +35,7 @@
 from launch.substitutions import LaunchConfiguration, TextSubstitution
 
 
-def generate_launch_description():
+def generate_launch_description() -> LaunchDescription:
     # Get the launch directory
     bringup_dir = get_package_share_directory('nav2_bringup')
     launch_dir = os.path.join(bringup_dir, 'launch')
diff --git a/tools/pyproject.toml b/tools/pyproject.toml
index 29df047cc44..c1ff5ba55a7 100644
--- a/tools/pyproject.toml
+++ b/tools/pyproject.toml
@@ -22,6 +22,8 @@ module = [
     "matplotlib.*",
     "rtree.*",
     "launch.*",
+    "ament_index_python.*",
+    "nav2_common.*",
 ]
 
 ignore_missing_imports = true