diff --git a/CMakeLists.txt b/CMakeLists.txt
index 92945cf0dfae6d5a618821fbd29701da1265b399..a78e5940d49477f0808061738f34384dc6fb3955 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -11,6 +11,9 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_python REQUIRED)
 find_package(nav2_dwb_controller REQUIRED)
+find_package(dwb_msgs REQUIRED)
+find_package(map_msgs REQUIRED)
+find_package(nav_2d_msgs REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(nav2_core REQUIRED)
@@ -35,6 +38,9 @@ set(dependencies
   nav2_dwb_controller
   pluginlib
   nav2_util
+  map_msgs
+  nav_2d_msgs
+  dwb_msgs
 )
 
 add_library(air_navigation SHARED
diff --git a/include/air_navigation/python_controller.h b/include/air_navigation/python_controller.h
index ceaf903b7aed9ca86045430eed6e4e2d88c34e5f..07b2d207cd2564bc2c1a6e91aaa2dfbe744efde3 100644
--- a/include/air_navigation/python_controller.h
+++ b/include/air_navigation/python_controller.h
@@ -23,8 +23,8 @@ public:
 
   void configure(
     const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
-    std::string name, const std::shared_ptr<tf2_ros::Buffer> & tf,
-    const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> & costmap_ros);
+    std::string name, std::shared_ptr<tf2_ros::Buffer> tf,
+    std::shared_ptr<nav2_costmap_2d::Costmap2DROS>) override;
 
 
   void cleanup() override;
diff --git a/src/python_controller.cpp b/src/python_controller.cpp
index 5961d31b5defbf05e4676f3b2bcd9ada029ec519..a015225a19b8f2ebdc2a2c60f883e8628266e476 100644
--- a/src/python_controller.cpp
+++ b/src/python_controller.cpp
@@ -15,8 +15,8 @@ using namespace air_navigation;
 
 void PythonController::configure(
   const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
-  std::string name, const std::shared_ptr<tf2_ros::Buffer> &,
-  const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> &)
+  std::string name, std::shared_ptr<tf2_ros::Buffer> ,
+  std::shared_ptr<nav2_costmap_2d::Costmap2DROS>)
 {
   auto node = parent.lock();
   RCLCPP_ERROR_STREAM(node->get_logger(), "Configuring Python controller");