Declare the missing dependencies that packages use #13207

Description

195 packages in this repository use a package or a system library that they never declare. The checker found 1061 missing entries: 959 <depend> and 102 <test_depend>.

These packages build today only because another declared dependency re-exports the owner, or because some other package installs the system library. That is luck, not correctness. When an unrelated repository stops re-exporting, the package no longer compiles, and the CI of this repository never sees the change.

• Parent issue: Check package.xml dependencies in both directions, in the repository and in CI autoware#7263
• The same cleanup in autoware_core is complete: Declare the missing dependencies that packages use autoware_core#1355

How each entry was found

The checker uses three kinds of evidence.

• An #include of a header, resolved against the package that really ships that header.
• A qualified name such as rcl_interfaces::msg::ParameterDescriptor in code, where the header arrives through another dependency. An include scan cannot see this kind.
• A system library such as Boost, Eigen or PCL, resolved through the compiler search paths, dpkg, and the rosdep cache, and named by the rosdep key this workspace already prefers.

Comments do not count. The checker blanks comments and string literals before it scans, because a Doxygen example is not a use.

The tag comes from where the dependency is used.

• <depend> when the use sits in an installed header or in code compiled into the library. 959 entries.
• <test_depend> when only test/ reaches the dependency. 102 entries.

The checker refuses an entry that would create a dependency cycle. The measurement ran on 2026-08-15, on main at 4260f35, in a jazzy workspace.

Validation

These counts are raw checker output. The core rounds reviewed every core entry per package, and the reviews corrected the checker five times. The simulator, e2e and map entries are reviewed, and that review added one entry the checker missed: tf2 in tier4_dummy_object_rviz_plugin. The other components are not reviewed yet.

Each component gets the same per-package review before its pull request, so the counts here can change.

The entries by component

The most frequent missing dependencies are libboost-dev (67), lanelet2_core (57), std_msgs (57), geometry_msgs (55), and eigen (54).

Pull requests

One pull request per component, opened one at a time, after its review, smallest first. The three smallest components share one pull request. planning is large, and it can split into several pull requests.

• simulator, e2e and map, in one pull request: fix: declare the dependencies the simulator, e2e and map packages use #13209
• vehicle: fix(vehicle): declare the dependencies these packages use #13208
• system fix(system): declare the dependencies these packages use #13217
• evaluator fix(evaluator): declare the dependencies these packages use #13218
• common
• sensing
• visualization
• localization
• control
• perception
• planning

Definition of done

• Every reviewed entry is present in the package.xml of its package, with the tag given.
• A build of the changed packages and their reverse-dependency closure stays clean.

Adding a <depend> cannot break a build, so this work carries no risk to the packages themselves.

Written with Claude Code. The entries come from the checker that produced the core list, and a per-package review runs before each pull request.