Fix pid_controller build on ROS 2 Rolling on Ubuntu 24.04 (#1084)

clalancette · web-flow · commit 0c2c458abc8c · 2024-03-21T06:27:53.000Z
diff --git a/ackermann_steering_controller/package.xml b/ackermann_steering_controller/package.xml
@@ -16,6 +16,7 @@
 
   <build_depend>generate_parameter_library</build_depend>
 
+  <depend>backward_ros</depend>
   <depend>control_msgs</depend>
   <depend>controller_interface</depend>
   <depend>hardware_interface</depend>
diff --git a/bicycle_steering_controller/package.xml b/bicycle_steering_controller/package.xml
@@ -16,6 +16,7 @@
 
   <build_depend>generate_parameter_library</build_depend>
 
+  <depend>backward_ros</depend>
   <depend>control_msgs</depend>
   <depend>controller_interface</depend>
   <depend>hardware_interface</depend>
diff --git a/pid_controller/package.xml b/pid_controller/package.xml
@@ -14,6 +14,7 @@
   <build_depend>generate_parameter_library</build_depend>
 
   <depend>angles</depend>
+  <depend>backward_ros</depend>
   <depend>control_msgs</depend>
   <depend>control_toolbox</depend>
   <depend>controller_interface</depend>
diff --git a/pid_controller/src/pid_controller.cpp b/pid_controller/src/pid_controller.cpp
@@ -26,6 +26,9 @@
 #include "control_msgs/msg/single_dof_state.hpp"
 #include "controller_interface/helpers.hpp"
 
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/version.h"
+
 namespace
 {  // utility
 
diff --git a/tricycle_steering_controller/package.xml b/tricycle_steering_controller/package.xml
@@ -18,6 +18,7 @@
 
   <build_depend>generate_parameter_library</build_depend>
 
+  <depend>backward_ros</depend>
   <depend>control_msgs</depend>
   <depend>controller_interface</depend>
   <depend>hardware_interface</depend>
