diff --git a/dev-ros/ament_uncrustify/Manifest b/dev-ros/ament_uncrustify/Manifest
index 7fd0dfc330efc..7ae1c97b2996a 100644
--- a/dev-ros/ament_uncrustify/Manifest
+++ b/dev-ros/ament_uncrustify/Manifest
@@ -1,2 +1,3 @@
 DIST ament_lint-0.10.0.tar.gz 219525 BLAKE2B 6ba7a32d0678e545c24b74ed187991140c34a363ad855e469f0e20f8a088b7cc939bbd187566233e099576e4c2b899d7d75edf311d3026234222078968be7ce6 SHA512 565413fa325317e6f00ce18051eb13556d1d50144d2c8f62368e5505455ef7f9fae3a69e8d723a3949e44b1f9e638741ae6d9b87687df81a661eb804365200f8
 DIST ament_lint-0.10.1.tar.gz 221215 BLAKE2B 47ffa7dfd892b05f345ba962c7c08dcf1627c4653cc75e1a1d1cad28971974ef5ca9c09d3989b3fdbfacd7f94dace9651c44911cd7747f39c5c59083f0195443 SHA512 1dd996d86cfb7488bd6bf57510eb5b7531fe4fe21d25203a4801046ec719ba19afdb89eb7ba9d862317d2e041e7139fadde27d114614d96741a177e8ec2a2ba3
+DIST ament_lint-0.10.4.tar.gz 222285 BLAKE2B 81a15dc996bad0fe3fa461aa7067eba423550d94a04881a12c8a4b0732a4a0ddcc30ab6bef94f81cb236836d8de7959b53d5560d5fb6eb480f2fbd849bd02489 SHA512 cb99084622f598b17f1ffe55620c9c822867771f2603e673098f8943d95b7be188e25480d4e22bf7c2988e94d8b69f6f7fa3b60cd042213f6bd8c2ad2c5deaf3
diff --git a/dev-ros/ament_uncrustify/ament_uncrustify-0.10.4.ebuild b/dev-ros/ament_uncrustify/ament_uncrustify-0.10.4.ebuild
new file mode 100644
index 0000000000000..016aff416aad1
--- /dev/null
+++ b/dev-ros/ament_uncrustify/ament_uncrustify-0.10.4.ebuild
@@ -0,0 +1,38 @@
+# Copyright 2019-2021 Gentoo Authors
+# Distributed under the terms of the GNU General Public License v2
+
+EAPI=7
+
+PYTHON_COMPAT=( python{3_7,3_8} )
+DISTUTILS_USE_SETUPTOOLS=rdepend
+
+inherit distutils-r1
+
+ROS_PN="ament_lint"
+if [ "${PV#9999}" != "${PV}" ] ; then
+	inherit git-r3
+	EGIT_REPO_URI="https://github.com/ament/ament_lint"
+	SRC_URI=""
+	S=${WORKDIR}/${P}/${PN}
+else
+	SRC_URI="https://github.com/ament/ament_lint/archive/${PV}.tar.gz -> ${ROS_PN}-${PV}.tar.gz"
+	S="${WORKDIR}/${ROS_PN}-${PV}/${PN}"
+fi
+
+DESCRIPTION="The ability to check code against style conventions using uncrustify"
+HOMEPAGE="https://github.com/ament/ament_lint"
+
+LICENSE="Apache-2.0"
+SLOT="0"
+if [ "${PV#9999}" != "${PV}" ] ; then
+	KEYWORDS=""
+else
+	KEYWORDS="~amd64"
+fi
+IUSE=""
+
+RDEPEND="
+	dev-util/uncrustify
+"
+DEPEND=""
+BDEPEND=""