From 996981a4b4b1329627e7ae90d6facf9666a9072c Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Thu, 6 Jun 2024 08:10:38 +0000
Subject: [PATCH] Fix pid_controller build on ROS 2 Rolling on Ubuntu 24.04
 (#1084)

---
 ackermann_steering_controller/package.xml | 1 +
 bicycle_steering_controller/package.xml   | 1 +
 pid_controller/package.xml                | 1 +
 pid_controller/src/pid_controller.cpp     | 2 ++
 tricycle_steering_controller/package.xml  | 1 +
 5 files changed, 6 insertions(+)

diff --git a/ackermann_steering_controller/package.xml b/ackermann_steering_controller/package.xml
index 013f813276..7c4b0d4b81 100644
--- 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
index 5ed4cf4048..119677b177 100644
--- 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
index ff453b6aea..eb2815225f 100644
--- 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
index 53f7e38cc4..b74f8d1996 100644
--- 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
index b34cb737d3..cdda0fef54 100644
--- 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>