diff --git a/.github/workflows/peripheral.yml b/.github/workflows/peripheral.yml
index 3de8e1c..268c3bf 100644
--- a/.github/workflows/peripheral.yml
+++ b/.github/workflows/peripheral.yml
@@ -17,15 +17,13 @@ jobs:
         - name: pip install formatters and mypy
           run: |
               pip3 install mypy flake8 isort
-        # Temporary commented out due to avoid testing submodule packages
-        # TODO (HiroIshida) fix
-        # - name: check by mypy
-        #   run: |
-        #       pip3 install -r requirements.txt
-        #       pip3 install numpy==1.23  # to enable numpy's type checking
-        #       mypy --version
-        #       mypy .
-
+        - name: check by mypy
+          run: |
+              rm node_script/detic node_script/third_party  # remove symlinks. (cannot configure to exclude them by mypy somehow)
+              pip3 install -r requirements.txt
+              pip3 install numpy==1.23  # to enable numpy's type checking
+              mypy --version
+              mypy .
         - name: check by isort and flake8
           run: |
               python3 -m isort example/ test/ node_script/
diff --git a/mypy.ini b/mypy.ini
index 7158086..4e0ff15 100644
--- a/mypy.ini
+++ b/mypy.ini
@@ -4,7 +4,12 @@ exclude = Detic
 show_error_codes = True
 warn_unused_ignores = False
 check_untyped_defs = True
+mypy_path = src
 
+[mypy-setuptools.*]
+ignore_missing_imports = True
+[mypy-catkin_pkg.*]
+ignore_missing_imports = True
 [mypy-cv_bridge]
 ignore_missing_imports = True
 [mypy-rospy]
@@ -23,8 +28,6 @@ ignore_missing_imports = True
 ignore_missing_imports = True
 [mypy-centernet.config]
 ignore_missing_imports = True
-[mypy-detic_ros.*]
-ignore_missing_imports = True
 [mypy-sensor_msgs.*]
 ignore_missing_imports = True
 [mypy-std_msgs.*]
@@ -41,3 +44,7 @@ ignore_missing_imports = True
 ignore_missing_imports = True
 [mypy-moviepy.*]
 ignore_missing_imports = True
+[mypy-detic_ros.msg]
+ignore_missing_imports = True
+[mypy-detic_ros.srv]
+ignore_missing_imports = True
diff --git a/node_script/batch_processor.py b/node_script/batch_processor.py
index e75b2d9..6763226 100644
--- a/node_script/batch_processor.py
+++ b/node_script/batch_processor.py
@@ -11,8 +11,8 @@
 from sensor_msgs.msg import Image
 
 from moviepy.editor import ImageSequenceClip
-from node_config import NodeConfig
-from wrapper import DeticWrapper, InferenceRawResult
+from detic_ros.node_config import NodeConfig
+from detic_ros.wrapper import DeticWrapper, InferenceRawResult
 
 
 def bag_to_images(file_path: str, topic_name_extract: Optional[str] = None):