diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
index 48dbbc720a..87414ce4ec 100644
--- a/controller_manager/src/controller_manager.cpp
+++ b/controller_manager/src/controller_manager.cpp
@@ -15,6 +15,7 @@
 #include "controller_manager/controller_manager.hpp"
 
 #include <memory>
+#include <set>
 #include <string>
 #include <utility>
 #include <vector>
diff --git a/controller_manager/src/ros2_control_node.cpp b/controller_manager/src/ros2_control_node.cpp
index 7addaf6cee..44c9c37aed 100644
--- a/controller_manager/src/ros2_control_node.cpp
+++ b/controller_manager/src/ros2_control_node.cpp
@@ -18,6 +18,7 @@
 #include <thread>
 
 #include "controller_manager/controller_manager.hpp"
+#include "rclcpp/executors.hpp"
 #include "realtime_tools/thread_priority.hpp"
 
 using namespace std::chrono_literals;