From 55fbef9cc5862149e135a04dd0c2ec1454cfce21 Mon Sep 17 00:00:00 2001
From: Josh Whitley <josh@electrifiedautonomy.com>
Date: Fri, 16 Jan 2026 13:50:37 -0700
Subject: [PATCH] Fix dependency issues in franka_semantic_components

---
 franka_semantic_components/CMakeLists.txt |  4 ++--
 franka_semantic_components/package.xml    | 10 ++++++----
 2 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/franka_semantic_components/CMakeLists.txt b/franka_semantic_components/CMakeLists.txt
index 90a6e703..2c29e048 100644
--- a/franka_semantic_components/CMakeLists.txt
+++ b/franka_semantic_components/CMakeLists.txt
@@ -15,13 +15,14 @@ option(CHECK_TIDY "Adds clang-tidy tests" OFF)
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
     Franka
+    controller_interface
     franka_hardware
     franka_msgs
     geometry_msgs
-    sensor_msgs
     hardware_interface
     controller_interface
     rclcpp_lifecycle
+    sensor_msgs
     urdf)
 
 # find dependencies
@@ -62,7 +63,6 @@ if(BUILD_TESTING)
   find_package(ament_cmake_lint_cmake REQUIRED)
   find_package(ament_cmake_pep257 REQUIRED)
   find_package(ament_cmake_xmllint REQUIRED)
-  find_package(franka_msgs REQUIRED)
   find_package(ament_cmake_gmock REQUIRED)
 
   set(CPP_DIRECTORIES src include)
diff --git a/franka_semantic_components/package.xml b/franka_semantic_components/package.xml
index 59b74554..8b56c4ee 100644
--- a/franka_semantic_components/package.xml
+++ b/franka_semantic_components/package.xml
@@ -9,13 +9,15 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>rclcpp</depend>
+  <depend>controller_interface</depend>
+  <depend>franka_hardware</depend>
   <depend>franka_msgs</depend>
-  <depend>sensor_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>hardware_interface</depend>
-  <depend>controller_interface</depend>
-  <depend>franka_hardware</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_lifecycle</depend>
+  <depend>sensor_msgs</depend>
+  <depend>urdf</depend>
 
   <test_depend>ament_cmake_clang_format</test_depend>
   <test_depend>ament_cmake_copyright</test_depend>