diff --git a/CMakeLists.txt b/CMakeLists.txt
index 731d37c7..1acba745 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -76,8 +76,9 @@ include_directories(include)
 # Configure roslint for nodes
 
 # Roslint cpp
-set(ROSLINT_CPP_OPTS "--filter=-legal/copyright")
+set(ROSLINT_CPP_OPTS "--filter=-legal/copyright,-whitespace/braces")
 roslint_cpp()
+roslint_add_test()
 
 install(
   TARGETS
diff --git a/src/controller.cpp b/src/controller.cpp
index 50d591b8..1038d96c 100644
--- a/src/controller.cpp
+++ b/src/controller.cpp
@@ -5,6 +5,7 @@
 #include <angles/angles.h>
 #include <tf2/utils.h>
 
+#include <algorithm>
 #include <limits>
 #include <path_tracking_pid/controller.hpp>
 #include <vector>
diff --git a/src/path_tracking_pid_local_planner.cpp b/src/path_tracking_pid_local_planner.cpp
index d2749bc1..8e080b00 100644
--- a/src/path_tracking_pid_local_planner.cpp
+++ b/src/path_tracking_pid_local_planner.cpp
@@ -10,6 +10,7 @@
 #include <visualization_msgs/Marker.h>
 #include <visualization_msgs/MarkerArray.h>
 
+#include <algorithm>
 #include <limits>
 #include <memory>
 #include <path_tracking_pid/path_tracking_pid_local_planner.hpp>