From b3c6d55e6cc19a7740991a5dc60f03eefe1f2f7c Mon Sep 17 00:00:00 2001
From: Chris Lalancette <clalancette@gmail.com>
Date: Mon, 18 Mar 2024 20:41:55 +0000
Subject: [PATCH 1/2] Fix pid_controller build on ROS 2 Rolling on Ubuntu 24.04

Two things are needed to make this compile:
1.  Make sure to add a package.xml dependency on backward_ros,
which is necessary to compile.
2.  Make sure to #include <rclcpp/version.h>, so the correct
rclcpp::QoS object is chosen.

With both of these in place, this package compiles cleanly
on Ubuntu 24.04.

Signed-off-by: Chris Lalancette <clalancette@gmail.com>
---
 pid_controller/package.xml            | 1 +
 pid_controller/src/pid_controller.cpp | 3 +++
 2 files changed, 4 insertions(+)

diff --git a/pid_controller/package.xml b/pid_controller/package.xml
index 9cda85aa03..c1106a0b23 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 19cebbde4e..77f8b77334 100644
--- a/pid_controller/src/pid_controller.cpp
+++ b/pid_controller/src/pid_controller.cpp
@@ -26,6 +26,9 @@
 #include "control_msgs/msg/single_dof_state.hpp"
 #include "controller_interface/helpers.hpp"
 
+#include <rclcpp/rclcpp.hpp>
+#include <rclcpp/version.h>
+
 namespace
 {  // utility
 

From 175c4d54f3ed2a2a5a6f1ca16b04f48416c8079a Mon Sep 17 00:00:00 2001
From: Chris Lalancette <clalancette@gmail.com>
Date: Tue, 19 Mar 2024 12:12:04 +0000
Subject: [PATCH 2/2] Feedback from review.

Signed-off-by: Chris Lalancette <clalancette@gmail.com>
---
 ackermann_steering_controller/package.xml | 1 +
 bicycle_steering_controller/package.xml   | 1 +
 pid_controller/src/pid_controller.cpp     | 4 ++--
 tricycle_steering_controller/package.xml  | 1 +
 4 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/ackermann_steering_controller/package.xml b/ackermann_steering_controller/package.xml
index 512af88534..a3183af262 100644
--- a/ackermann_steering_controller/package.xml
+++ b/ackermann_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>
diff --git a/bicycle_steering_controller/package.xml b/bicycle_steering_controller/package.xml
index bc560d9bf7..6507700a5d 100644
--- a/bicycle_steering_controller/package.xml
+++ b/bicycle_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>
diff --git a/pid_controller/src/pid_controller.cpp b/pid_controller/src/pid_controller.cpp
index 77f8b77334..b76926d5a0 100644
--- a/pid_controller/src/pid_controller.cpp
+++ b/pid_controller/src/pid_controller.cpp
@@ -26,8 +26,8 @@
 #include "control_msgs/msg/single_dof_state.hpp"
 #include "controller_interface/helpers.hpp"
 
-#include <rclcpp/rclcpp.hpp>
-#include <rclcpp/version.h>
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/version.h"
 
 namespace
 {  // utility
diff --git a/tricycle_steering_controller/package.xml b/tricycle_steering_controller/package.xml
index bed6e451fa..991aca2c05 100644
--- a/tricycle_steering_controller/package.xml
+++ b/tricycle_steering_controller/package.xml
@@ -18,6 +18,7 @@
 
   <build_depend>generate_parameter_library</build_depend>
 
+  <depend>backward_ros</depend>
   <depend>control_msgs</depend>
   <depend>controller_interface</depend>
   <depend>hardware_interface</depend>