From feb58a73a515395ced39690e3ef31ef702874d8e Mon Sep 17 00:00:00 2001
From: ahcorde <ahcorde@gmail.com>
Date: Fri, 31 Jul 2020 19:14:21 +0200
Subject: [PATCH] Package Improvements

Signed-off-by: ahcorde <ahcorde@gmail.com>
---
 CMakeLists.txt                  |  4 +++-
 include/control_toolbox/pid.hpp |  2 --
 package.xml                     | 10 ++++++++--
 3 files changed, 11 insertions(+), 5 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index ce558fe1..15924584 100644
--- 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
index 8bbf63df..3068e39f 100644
--- 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
index 3a46b008..bee8d291 100644
--- a/package.xml
+++ b/package.xml
@@ -18,8 +18,12 @@
 
   <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>
@@ -27,5 +31,7 @@
   <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>