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

christophfroehlich · christophfroehlich · commit 996981a4b4b1 · 2024-06-06T08:10:38.000Z
diff --git a/ackermann_steering_controller/package.xml b/ackermann_steering_controller/package.xml
@@ -15,6 +15,7 @@
 
   <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
@@ -15,6 +15,7 @@
 
   <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 +26,8 @@
 #include "control_msgs/msg/single_dof_state.hpp"
 #include "controller_interface/helpers.hpp"
 
+#include "rclcpp/rclcpp.hpp"
+
 namespace
 {  // utility
 
diff --git a/tricycle_steering_controller/package.xml b/tricycle_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>
