Package Improvements

Signed-off-by: ahcorde <[email protected]>
huemerj · Aug 1, 2020 · feb58a7 · feb58a7
1 parent 4853939
commit feb58a7
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Showing 3 changed files with 11 additions and 5 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -13,6 +13,7 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(control_msgs REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(rcutils REQUIRED)
 find_package(realtime_tools REQUIRED)
 
 add_library(${PROJECT_NAME} SHARED
@@ -26,6 +27,7 @@ target_include_directories(${PROJECT_NAME} PUBLIC include)
 ament_target_dependencies(${PROJECT_NAME}
     control_msgs
     rclcpp
+    rcutils
     realtime_tools)
 
 if(BUILD_TESTING)
@@ -58,8 +60,8 @@ install(TARGETS ${PROJECT_NAME}
   RUNTIME DESTINATION bin)
 
 ament_export_dependencies(
-  control_msgs
   rclcpp
+  rcutils
   realtime_tools)
 ament_export_include_directories(include)
 ament_export_libraries(${PROJECT_NAME})

diff --git a/include/control_toolbox/pid.hpp b/include/control_toolbox/pid.hpp
@@ -37,8 +37,6 @@
 #include <memory>
 #include <string>
 
-#include "control_msgs/msg/pid_state.hpp"
-
 #include "rclcpp/clock.hpp"
 #include "rclcpp/duration.hpp"
 #include "rclcpp/node.hpp"

diff --git a/package.xml b/package.xml
@@ -18,14 +18,20 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>control_msgs</depend>
+  <build_depend>control_msgs</build_depend>
+
+  <exec_depend>control_msgs</exec_depend>
+
   <depend>rclcpp</depend>
+  <depend>rcutils</depend>
   <depend>realtime_tools</depend>
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>rclcpp_lifecycle</test_depend>
-
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
 </package>