diff --git a/gazebo_ros2_control/CMakeLists.txt b/gazebo_ros2_control/CMakeLists.txt
index 6ce32bc2..30d8edce 100644
--- a/gazebo_ros2_control/CMakeLists.txt
+++ b/gazebo_ros2_control/CMakeLists.txt
@@ -20,13 +20,18 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 include_directories(include)
+link_directories(
+  ${gazebo_dev_LIBRARY_DIRS}
+)
 
 # Libraries
 add_library(${PROJECT_NAME} SHARED
   src/gazebo_ros2_control_plugin.cpp
 )
 ament_target_dependencies(${PROJECT_NAME}
+  angles
   controller_manager
+  control_toolbox
   gazebo_dev
   gazebo_ros
   hardware_interface
diff --git a/gazebo_ros2_control/src/gazebo_system.cpp b/gazebo_ros2_control/src/gazebo_system.cpp
index b348ee83..fbbc544f 100644
--- a/gazebo_ros2_control/src/gazebo_system.cpp
+++ b/gazebo_ros2_control/src/gazebo_system.cpp
@@ -192,6 +192,12 @@ bool GazeboSystem::initSim(
                 nh_->get_logger(), "joint %s is configured in VELOCITY_PID mode",
                 transmissions[j].joints[0].name.c_str());
               break;
+            case EFFORT:
+              {}            // fallthrough
+            case POSITION_PID:
+              {}             // fallthrough
+            case VELOCITY_PID:
+              {}           // fallthrough
           }
         }
       }