diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml
index 9bebf897..48ca25a8 100644
--- a/.github/workflows/lint.yml
+++ b/.github/workflows/lint.yml
@@ -7,9 +7,6 @@ on:
     tags: ["*"]
     branches:
       - ros2
-  pull_request:
-    branches:
-      - ros2
 
 jobs:
   #   ament_lint:
@@ -62,14 +59,20 @@ jobs:
       - name: Run XML Linter for URDF, SDF, Xacro, XML files
         run: |
           find . \( -iname '*.urdf' -o -iname '*.sdf' -o -iname '*.xacro' \
-          -o -iname '*.xml'  -o -iname '*.launch' \) -print0 | xargs -0 xmllint --noout
+          -o -iname '*.xml' -o -iname '*.launch' -o -iname '*.world' \) -print0 | xargs -0 xmllint --noout
 
       - name: Run ShellCheck
         uses: ludeeus/action-shellcheck@master
 
       - name: Run Yamllint on YAML and .launch files
         run: |
-          find . \( -iname '*.yml' -o -iname '*.yaml' \) -print0 | xargs -0 yamllint -d "{extends: relaxed, rules: {new-line-at-end-of-file: {present: false}}}"
+            find . \( -iname '*.yml' -o -iname '*.yaml' \) -print0 | xargs -0 yamllint -d "{
+                extends: default,
+                rules: {
+                    line-length: {max: 120},
+                    new-line-at-end-of-file: disable
+                }
+            }"
 
       - name: Lint CMake files
         run: find . \( -iname 'CMakeLists.txt' -o -iname '*.cmake' \) -print0 | xargs -0 cmake-lint
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 1ede3f6d..e4c3df74 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -42,7 +42,6 @@ repos:
       - id: trailing-whitespace
         exclude_types: [rst]
       - id: fix-byte-order-marker
-      - id: check-yaml
       - id: destroyed-symlinks
       - id: detect-private-key
       - id: requirements-txt-fixer
@@ -173,14 +172,21 @@ repos:
           - "--overwrite"
         files: '\.(xacro|urdf|sdf|xml|launch|world)$'
 
-  # Not using dockerfile lint for now
-  # - repo: https://github.com/pryorda/dockerfilelint-precommit-hooks
-  #   rev: v0.1.0
-  #   hooks:
-  #     - id: dockerfilelint
-  #       files: \.dockerfile
-  # - repo: https://github.com/hadolint/hadolint
-  #   rev: v2.12.0  # Use the revision rev you want to point at
-  #   hooks:
-  #     - id: hadolint
-  #       files: \*.dockerfile
\ No newline at end of file
+  # Yaml lint
+  - repo: https://github.com/adrienverge/yamllint
+    rev: v1.35.1
+    hooks:
+      - id: yamllint
+        name: yamllint
+        description: This hook runs yamllint.
+        entry: >
+          yamllint -d "{
+            extends: default,
+            rules: {
+              line-length: {max: 120},
+              new-line-at-end-of-file: disable
+            }
+          }"
+        language: python
+        types: [file, yaml]
+        files: '\.(yaml|yml)$'
\ No newline at end of file