From 86f4c1be9026ff3017e0d7a951398a3ab8b6c4fe Mon Sep 17 00:00:00 2001
From: Nathan Brooks <nathan.brooks@picknik.ai>
Date: Mon, 3 Aug 2026 01:29:03 -0600
Subject: [PATCH] Declare the hardware_interface dependency explicitly

Both controllers include <hardware_interface/loaned_command_interface.hpp> and
name hardware_interface::LoanedCommandInterface directly, but neither declared
hardware_interface in package.xml or found it in CMake. They relied on
controller_interface to pull it in transitively:

  picknik_*_controller -> controller_interface -> hardware_interface

That works today and is not a build break, but it means a dependency we use
directly is invisible to rosdep and to anyone reading the manifest, and it would
break silently if controller_interface ever stopped re-exporting it.

Adds, for both packages:
  - <depend>hardware_interface</depend> in package.xml
  - find_package(hardware_interface REQUIRED)
  - hardware_interface in THIS_PACKAGE_INCLUDE_DEPENDS, so it is re-exported to
    consumers alongside the other direct deps
  - ${hardware_interface_TARGETS} in target_link_libraries, matching the
    ${..._TARGETS} style already used for controller_interface. That variable
    resolves to hardware_interface::hardware_interface only -- mock_components
    lives in a separate export set and is not pulled in.

Reported by @Plumezz in #36 against the humble branch; the same gap is present
on main and on humble, and both packages are affected, not just
picknik_reset_fault_controller.

Verified by building both packages from a clean workspace in a
ros:lyrical-ros-base container: rosdep resolves the new dependency and colcon
build succeeds.

Fixes #36

Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
---
 picknik_reset_fault_controller/CMakeLists.txt | 3 +++
 picknik_reset_fault_controller/package.xml    | 1 +
 picknik_twist_controller/CMakeLists.txt       | 3 +++
 picknik_twist_controller/package.xml          | 1 +
 4 files changed, 8 insertions(+)

diff --git a/picknik_reset_fault_controller/CMakeLists.txt b/picknik_reset_fault_controller/CMakeLists.txt
index d1399ca..5ae4cc9 100644
--- a/picknik_reset_fault_controller/CMakeLists.txt
+++ b/picknik_reset_fault_controller/CMakeLists.txt
@@ -9,6 +9,7 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_ros REQUIRED)
 find_package(controller_interface REQUIRED)
+find_package(hardware_interface REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(example_interfaces REQUIRED)
 find_package(rclcpp REQUIRED)
@@ -16,6 +17,7 @@ find_package(realtime_tools REQUIRED)
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   controller_interface
+  hardware_interface
   geometry_msgs
   example_interfaces
   realtime_tools
@@ -30,6 +32,7 @@ target_include_directories(${PROJECT_NAME} PRIVATE
 
 target_link_libraries(${PROJECT_NAME}
   ${controller_interface_TARGETS}
+  ${hardware_interface_TARGETS}
   ${geometry_msgs_TARGETS}
   ${example_interfaces_TARGETS}
   realtime_tools::realtime_tools
diff --git a/picknik_reset_fault_controller/package.xml b/picknik_reset_fault_controller/package.xml
index 19002c2..594b43f 100644
--- a/picknik_reset_fault_controller/package.xml
+++ b/picknik_reset_fault_controller/package.xml
@@ -13,6 +13,7 @@
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
 
   <depend>controller_interface</depend>
+  <depend>hardware_interface</depend>
   <depend>geometry_msgs</depend>
   <depend>example_interfaces</depend>
   <depend>rclcpp</depend>
diff --git a/picknik_twist_controller/CMakeLists.txt b/picknik_twist_controller/CMakeLists.txt
index 5b0ab5b..8950a08 100644
--- a/picknik_twist_controller/CMakeLists.txt
+++ b/picknik_twist_controller/CMakeLists.txt
@@ -9,6 +9,7 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_ros REQUIRED)
 find_package(controller_interface REQUIRED)
+find_package(hardware_interface REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(example_interfaces REQUIRED)
 find_package(rclcpp REQUIRED)
@@ -16,6 +17,7 @@ find_package(realtime_tools REQUIRED)
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   controller_interface
+  hardware_interface
   geometry_msgs
   example_interfaces
   realtime_tools
@@ -30,6 +32,7 @@ target_include_directories(${PROJECT_NAME} PRIVATE
 
 target_link_libraries(${PROJECT_NAME}
   ${controller_interface_TARGETS}
+  ${hardware_interface_TARGETS}
   ${geometry_msgs_TARGETS}
   ${example_interfaces_TARGETS}
   realtime_tools::realtime_tools
diff --git a/picknik_twist_controller/package.xml b/picknik_twist_controller/package.xml
index 46ae4b9..b23c71f 100644
--- a/picknik_twist_controller/package.xml
+++ b/picknik_twist_controller/package.xml
@@ -10,6 +10,7 @@
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
 
   <depend>controller_interface</depend>
+  <depend>hardware_interface</depend>
   <depend>geometry_msgs</depend>
   <depend>example_interfaces</depend>
   <depend>rclcpp</depend>