[CMake] add missing dependencies and use them

CMakeLists.txt

@@ -63,6 +63,8 @@ add_required_dependency("dynamic_graph_bridge")
 add_required_dependency("controller_interface")
 add_required_dependency("pal_hardware_interfaces")
 add_optional_dependency("temperature_sensor_controller")
+add_required_dependency("pal_common_msgs")
+add_required_dependency("dynamic-graph")
 
 # This is necessary so that the pc file generated by catking is similar to the on
 # done directly by jrl-cmake-modules
@@ -112,6 +114,7 @@ target_link_libraries(rcsot_controller
   )
 
 pkg_config_use_dependency(rcsot_controller urdfdom)
+pkg_config_use_dependency(rcsot_controller dynamic-graph)
 
 ## Mark executables and/or libraries for installation
 install(TARGETS rcsot_controller DESTINATION lib )