diff --git a/CMakeLists.txt b/CMakeLists.txt
index fda8a8d3..ee02b5cf 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -135,8 +135,5 @@ install(TARGETS gravity_compensation gravity_compensation_filter_parameters
 )
 
 ament_export_targets(export_control_toolbox HAS_LIBRARY_TARGET)
-ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS} ${CONTROL_FILTERS_INCLUDE_DEPENDS})
-ament_export_include_directories(
-  include
-)
+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
 ament_package()
diff --git a/test/control_filters/test_gravity_compensation.hpp b/test/control_filters/test_gravity_compensation.hpp
index 51eb9a8b..14e24129 100644
--- a/test/control_filters/test_gravity_compensation.hpp
+++ b/test/control_filters/test_gravity_compensation.hpp
@@ -28,9 +28,6 @@ namespace
 static const rclcpp::Logger LOGGER = rclcpp::get_logger("test_gravity_compensation");
 }  // namespace
 
-// TODO(destogl): do this
-// subclassing and friending so we can access member variables
-
 class GravityCompensationTest : public ::testing::Test
 {
 public: