From b03efae63bad45d30e4a75fa780c5408f7c531f3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?=
 <christophfroehlich@users.noreply.github.com>
Date: Sat, 22 Nov 2025 00:48:48 +0100
Subject: [PATCH 1/2] Remove parameter_traits dependency (#2022)

(cherry picked from commit ec198b1d98ccb9a5271fa654396e18086aaa72cd)

# Conflicts:
#	pid_controller/CMakeLists.txt
---
 pid_controller/CMakeLists.txt | 16 +++++++++++++++-
 pid_controller/package.xml    |  1 -
 2 files changed, 15 insertions(+), 2 deletions(-)

diff --git a/pid_controller/CMakeLists.txt b/pid_controller/CMakeLists.txt
index 937f1708ce..f7b336f2e6 100644
--- a/pid_controller/CMakeLists.txt
+++ b/pid_controller/CMakeLists.txt
@@ -22,7 +22,6 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
   controller_interface
   generate_parameter_library
   hardware_interface
-  parameter_traits
   pluginlib
   rclcpp
   rclcpp_lifecycle
@@ -49,6 +48,7 @@ target_include_directories(pid_controller PUBLIC
   $<INSTALL_INTERFACE:include/pid_controller>
 )
 target_link_libraries(pid_controller PUBLIC
+<<<<<<< HEAD
   pid_controller_parameters
 )
 ament_target_dependencies(pid_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
@@ -56,6 +56,20 @@ ament_target_dependencies(pid_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
 target_compile_definitions(pid_controller PRIVATE "PID_CONTROLLER_BUILDING_DLL")
+=======
+                      pid_controller_parameters
+                      angles::angles
+                      control_toolbox::control_toolbox
+                      controller_interface::controller_interface
+                      hardware_interface::hardware_interface
+                      pluginlib::pluginlib
+                      rclcpp::rclcpp
+                      rclcpp_lifecycle::rclcpp_lifecycle
+                      realtime_tools::realtime_tools
+                      ${std_srvs_TARGETS}
+                      ${control_msgs_TARGETS}
+                      ${std_srvs_TARGETS})
+>>>>>>> ec198b1 (Remove parameter_traits dependency (#2022))
 
 pluginlib_export_plugin_description_file(controller_interface pid_controller.xml)
 
diff --git a/pid_controller/package.xml b/pid_controller/package.xml
index 40d82cb920..58aa2d5c9b 100644
--- a/pid_controller/package.xml
+++ b/pid_controller/package.xml
@@ -28,7 +28,6 @@
   <depend>control_toolbox</depend>
   <depend>controller_interface</depend>
   <depend>hardware_interface</depend>
-  <depend>parameter_traits</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_lifecycle</depend>

From cfd4b2fb80553a6f3e3e22d9f473acd6e27ab72b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?=
 <christophfroehlich@users.noreply.github.com>
Date: Sat, 22 Nov 2025 19:47:12 +0100
Subject: [PATCH 2/2] Update CMakeLists.txt

---
 pid_controller/CMakeLists.txt | 15 ---------------
 1 file changed, 15 deletions(-)

diff --git a/pid_controller/CMakeLists.txt b/pid_controller/CMakeLists.txt
index f7b336f2e6..2bacddf46a 100644
--- a/pid_controller/CMakeLists.txt
+++ b/pid_controller/CMakeLists.txt
@@ -48,7 +48,6 @@ target_include_directories(pid_controller PUBLIC
   $<INSTALL_INTERFACE:include/pid_controller>
 )
 target_link_libraries(pid_controller PUBLIC
-<<<<<<< HEAD
   pid_controller_parameters
 )
 ament_target_dependencies(pid_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
@@ -56,20 +55,6 @@ ament_target_dependencies(pid_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
 target_compile_definitions(pid_controller PRIVATE "PID_CONTROLLER_BUILDING_DLL")
-=======
-                      pid_controller_parameters
-                      angles::angles
-                      control_toolbox::control_toolbox
-                      controller_interface::controller_interface
-                      hardware_interface::hardware_interface
-                      pluginlib::pluginlib
-                      rclcpp::rclcpp
-                      rclcpp_lifecycle::rclcpp_lifecycle
-                      realtime_tools::realtime_tools
-                      ${std_srvs_TARGETS}
-                      ${control_msgs_TARGETS}
-                      ${std_srvs_TARGETS})
->>>>>>> ec198b1 (Remove parameter_traits dependency (#2022))
 
 pluginlib_export_plugin_description_file(controller_interface pid_controller.xml)