diff --git a/.github/workflows/protobuf.yml b/.github/workflows/protobuf.yml
index da70a5db3..c7d58ee4f 100644
--- a/.github/workflows/protobuf.yml
+++ b/.github/workflows/protobuf.yml
@@ -11,6 +11,18 @@ on:
     branches: [ master ]
 
 jobs:
+  lint-protobuf:
+    name: Protobuf Linter
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v4
+      - uses: yoheimuta/action-protolint@v1
+        with:
+          github_token: ${{ secrets.github_token }}
+          # Change reviewdog reporter if you need [github-pr-check,github-check,github-pr-review].
+          reporter: github-pr-check
+          filter_mode: nofilter
+
   build-proto2-linux64:
     name: Build Proto2 Linux 64
 
diff --git a/.protolint.yaml b/.protolint.yaml
new file mode 100644
index 000000000..fe1302088
--- /dev/null
+++ b/.protolint.yaml
@@ -0,0 +1,48 @@
+---
+# Lint directives.
+lint:
+  # Linter rules.
+  # Run `protolint list` to see all available rules.
+  rules:
+    # Determines whether or not to include the default set of linters.
+    all_default: true
+
+    remove:
+      - REPEATED_FIELD_NAMES_PLURALIZED
+      - FIELD_NAMES_EXCLUDE_PREPOSITIONS
+      - MESSAGE_NAMES_EXCLUDE_PREPOSITIONS
+      - FILE_HAS_COMMENT
+      - ORDER
+      - IMPORTS_SORTED
+      - ENUM_FIELD_NAMES_ZERO_VALUE_END_WITH
+
+  # Linter rules option.
+  rules_option:
+    # MAX_LINE_LENGTH rule option.
+    max_line_length:
+      # Enforces a maximum line length
+      max_chars: 400
+      # Specifies the character count for tab characters
+      tab_chars: 4
+
+    # INDENT rule option.
+    indent:
+      # Available styles are 4(4-spaces), 2(2-spaces) or tab.
+      style: 4
+      # Specifies if it should stop considering and inserting new lines at the appropriate positions
+      # when the inner elements are on the same line. Default is false.
+      not_insert_newline: false
+
+    # QUOTE_CONSISTENT rule option.
+    quote_consistent:
+      # Available quote are "double" or "single".
+      quote: double
+
+    # ENUM_FIELD_NAMES_ZERO_VALUE_END_WITH rule option.
+    #enum_field_names_zero_value_end_with:
+    #  suffix: UNKNOWN
+
+    # SYNTAX_CONSISTENT rule option.
+    syntax_consistent:
+      # Default is proto3.
+      version: proto2
\ No newline at end of file
diff --git a/osi_object.proto b/osi_object.proto
index 3868eb3ff..59f689e58 100644
--- a/osi_object.proto
+++ b/osi_object.proto
@@ -216,6 +216,16 @@ message StationaryObject
             // in the environment, like street lights.
             //
             TYPE_EMITTING_STRUCTURE = 18;
+
+            // Test enum case
+            //
+            TYPE_test = 19;
+
+            // Test missing prefix
+            //
+            TEST = 20;
+
+            TYPE_MISSING_COMMENT= 21;
         }
 
         // Definition of material types.