diff --git a/README.md b/README.md
index af52cf7..f8b2680 100644
--- a/README.md
+++ b/README.md
@@ -124,10 +124,6 @@
 # Install apt-file so that packages can be searched
    apt-get install apt-file
    apt-file update
-# Look for the package that contains the ptree.hpp file.  This is needed to
-#   compile the 2018 code.
-   apt-file search 'boost/property_tree/ptree.hpp'
-   apt-get install libboost1.62-dev
 # Install sysstat so that you can tell how many resources are being used during
 #   the compile.
    apt-get install sysstat
diff --git a/third_party/boostorg/algorithm/BUILD b/third_party/boostorg/algorithm/BUILD
new file mode 100644
index 0000000..2531e98
--- /dev/null
+++ b/third_party/boostorg/algorithm/BUILD
@@ -0,0 +1,13 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "algorithm",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//third_party/boostorg/assert",
+        "//third_party/boostorg/static_assert",
+        "//third_party/boostorg/type_traits",
+    ],
+)
diff --git a/third_party/boostorg/any/BUILD b/third_party/boostorg/any/BUILD
new file mode 100644
index 0000000..c260ecc
--- /dev/null
+++ b/third_party/boostorg/any/BUILD
@@ -0,0 +1,8 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "any",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+)
diff --git a/third_party/boostorg/array/BUILD b/third_party/boostorg/array/BUILD
new file mode 100644
index 0000000..448d164
--- /dev/null
+++ b/third_party/boostorg/array/BUILD
@@ -0,0 +1,8 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "array",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+)
diff --git a/third_party/boostorg/assert/BUILD b/third_party/boostorg/assert/BUILD
new file mode 100644
index 0000000..3aa13e1
--- /dev/null
+++ b/third_party/boostorg/assert/BUILD
@@ -0,0 +1,8 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "assert",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+)
diff --git a/third_party/boostorg/atomic/BUILD b/third_party/boostorg/atomic/BUILD
new file mode 100644
index 0000000..d28c896
--- /dev/null
+++ b/third_party/boostorg/atomic/BUILD
@@ -0,0 +1,8 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "atomic",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+)
diff --git a/third_party/boostorg/bind/BUILD b/third_party/boostorg/bind/BUILD
new file mode 100644
index 0000000..71d64c2
--- /dev/null
+++ b/third_party/boostorg/bind/BUILD
@@ -0,0 +1,8 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "bind",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+)
diff --git a/third_party/boostorg/concept_check/BUILD b/third_party/boostorg/concept_check/BUILD
new file mode 100644
index 0000000..e232b94
--- /dev/null
+++ b/third_party/boostorg/concept_check/BUILD
@@ -0,0 +1,8 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "concept_check",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+)
diff --git a/third_party/boostorg/config/BUILD b/third_party/boostorg/config/BUILD
new file mode 100644
index 0000000..8b23ec2
--- /dev/null
+++ b/third_party/boostorg/config/BUILD
@@ -0,0 +1,11 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "config",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//third_party/boostorg/core",
+    ],
+)
diff --git a/third_party/boostorg/container/BUILD b/third_party/boostorg/container/BUILD
new file mode 100644
index 0000000..e6813ba
--- /dev/null
+++ b/third_party/boostorg/container/BUILD
@@ -0,0 +1,8 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "container",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+)
diff --git a/third_party/boostorg/container_hash/BUILD b/third_party/boostorg/container_hash/BUILD
new file mode 100644
index 0000000..fcaef6c
--- /dev/null
+++ b/third_party/boostorg/container_hash/BUILD
@@ -0,0 +1,8 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "container_hash",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+)
diff --git a/third_party/boostorg/core/BUILD b/third_party/boostorg/core/BUILD
new file mode 100644
index 0000000..c93902b
--- /dev/null
+++ b/third_party/boostorg/core/BUILD
@@ -0,0 +1,11 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "core",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//third_party/boostorg/static_assert",
+    ],
+)
diff --git a/third_party/boostorg/detail/BUILD b/third_party/boostorg/detail/BUILD
new file mode 100644
index 0000000..d317109
--- /dev/null
+++ b/third_party/boostorg/detail/BUILD
@@ -0,0 +1,8 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "detail",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+)
diff --git a/third_party/boostorg/foreach/BUILD b/third_party/boostorg/foreach/BUILD
new file mode 100644
index 0000000..25dce16
--- /dev/null
+++ b/third_party/boostorg/foreach/BUILD
@@ -0,0 +1,8 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "foreach",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+)
diff --git a/third_party/boostorg/format/BUILD b/third_party/boostorg/format/BUILD
new file mode 100644
index 0000000..96be264
--- /dev/null
+++ b/third_party/boostorg/format/BUILD
@@ -0,0 +1,8 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "format",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+)
diff --git a/third_party/boostorg/function/BUILD b/third_party/boostorg/function/BUILD
new file mode 100644
index 0000000..92b7c11
--- /dev/null
+++ b/third_party/boostorg/function/BUILD
@@ -0,0 +1,8 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "function",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+)
diff --git a/third_party/boostorg/function_types/BUILD b/third_party/boostorg/function_types/BUILD
new file mode 100644
index 0000000..50bbf55
--- /dev/null
+++ b/third_party/boostorg/function_types/BUILD
@@ -0,0 +1,8 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "function_types",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+)
diff --git a/third_party/boostorg/functional/BUILD b/third_party/boostorg/functional/BUILD
new file mode 100644
index 0000000..6f0c2d6
--- /dev/null
+++ b/third_party/boostorg/functional/BUILD
@@ -0,0 +1,8 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "functional",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+)
diff --git a/third_party/boostorg/fusion/BUILD b/third_party/boostorg/fusion/BUILD
new file mode 100644
index 0000000..e0e1e33
--- /dev/null
+++ b/third_party/boostorg/fusion/BUILD
@@ -0,0 +1,8 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "fusion",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+)
diff --git a/third_party/boostorg/integer/BUILD b/third_party/boostorg/integer/BUILD
new file mode 100644
index 0000000..daddbaf
--- /dev/null
+++ b/third_party/boostorg/integer/BUILD
@@ -0,0 +1,8 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "integer",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+)
diff --git a/third_party/boostorg/iterator/BUILD b/third_party/boostorg/iterator/BUILD
new file mode 100644
index 0000000..fa0d26d
--- /dev/null
+++ b/third_party/boostorg/iterator/BUILD
@@ -0,0 +1,8 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "iterator",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+)
diff --git a/third_party/boostorg/lexical_cast/BUILD b/third_party/boostorg/lexical_cast/BUILD
new file mode 100644
index 0000000..76185fe
--- /dev/null
+++ b/third_party/boostorg/lexical_cast/BUILD
@@ -0,0 +1,8 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "lexical_cast",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+)
diff --git a/third_party/boostorg/math/BUILD b/third_party/boostorg/math/BUILD
new file mode 100644
index 0000000..cbc8581
--- /dev/null
+++ b/third_party/boostorg/math/BUILD
@@ -0,0 +1,8 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "math",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+)
diff --git a/third_party/boostorg/move/BUILD b/third_party/boostorg/move/BUILD
new file mode 100644
index 0000000..e39c98b
--- /dev/null
+++ b/third_party/boostorg/move/BUILD
@@ -0,0 +1,8 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "move",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+)
diff --git a/third_party/boostorg/mpl/BUILD b/third_party/boostorg/mpl/BUILD
new file mode 100644
index 0000000..d6c9685
--- /dev/null
+++ b/third_party/boostorg/mpl/BUILD
@@ -0,0 +1,8 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "mpl",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+)
diff --git a/third_party/boostorg/multi_array/BUILD b/third_party/boostorg/multi_array/BUILD
new file mode 100644
index 0000000..89cac9e
--- /dev/null
+++ b/third_party/boostorg/multi_array/BUILD
@@ -0,0 +1,8 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "multi_array",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+)
diff --git a/third_party/boostorg/multi_index/BUILD b/third_party/boostorg/multi_index/BUILD
new file mode 100644
index 0000000..143fb0a
--- /dev/null
+++ b/third_party/boostorg/multi_index/BUILD
@@ -0,0 +1,8 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "multi_index",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+)
diff --git a/third_party/boostorg/numeric_conversion/BUILD b/third_party/boostorg/numeric_conversion/BUILD
new file mode 100644
index 0000000..053f6fc
--- /dev/null
+++ b/third_party/boostorg/numeric_conversion/BUILD
@@ -0,0 +1,8 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "numeric_conversion",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+)
diff --git a/third_party/boostorg/odeint/BUILD b/third_party/boostorg/odeint/BUILD
new file mode 100644
index 0000000..0f5dfac
--- /dev/null
+++ b/third_party/boostorg/odeint/BUILD
@@ -0,0 +1,14 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "odeint",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//third_party/boostorg/assert",
+        "//third_party/boostorg/static_assert",
+        "//third_party/boostorg/throw_exception",
+        "//third_party/boostorg/type_traits",
+    ],
+)
diff --git a/third_party/boostorg/optional/BUILD b/third_party/boostorg/optional/BUILD
new file mode 100644
index 0000000..b355d53
--- /dev/null
+++ b/third_party/boostorg/optional/BUILD
@@ -0,0 +1,15 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "optional",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//third_party/boostorg/assert",
+        "//third_party/boostorg/core",
+        "//third_party/boostorg/static_assert",
+        "//third_party/boostorg/throw_exception",
+        "//third_party/boostorg/type_traits",
+    ],
+)
diff --git a/third_party/boostorg/predef/BUILD b/third_party/boostorg/predef/BUILD
new file mode 100644
index 0000000..9c04b7e
--- /dev/null
+++ b/third_party/boostorg/predef/BUILD
@@ -0,0 +1,8 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "predef",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+)
diff --git a/third_party/boostorg/preprocessor/BUILD b/third_party/boostorg/preprocessor/BUILD
new file mode 100644
index 0000000..7c7499a
--- /dev/null
+++ b/third_party/boostorg/preprocessor/BUILD
@@ -0,0 +1,8 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "preprocessor",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+)
diff --git a/third_party/boostorg/property_tree/BUILD b/third_party/boostorg/property_tree/BUILD
new file mode 100644
index 0000000..536ec40
--- /dev/null
+++ b/third_party/boostorg/property_tree/BUILD
@@ -0,0 +1,49 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "property_tree",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//third_party/boostorg/any",
+        "//third_party/boostorg/array",
+        "//third_party/boostorg/assert",
+        "//third_party/boostorg/atomic",
+        "//third_party/boostorg/bind",
+        "//third_party/boostorg/concept_check",
+        "//third_party/boostorg/container",
+        "//third_party/boostorg/container_hash",
+        "//third_party/boostorg/detail",
+        "//third_party/boostorg/foreach",
+        "//third_party/boostorg/format",
+        "//third_party/boostorg/function",
+        "//third_party/boostorg/function_types",
+        "//third_party/boostorg/functional",
+        "//third_party/boostorg/fusion",
+        "//third_party/boostorg/integer",
+        "//third_party/boostorg/iterator",
+        "//third_party/boostorg/lexical_cast",
+        "//third_party/boostorg/math",
+        "//third_party/boostorg/move",
+        "//third_party/boostorg/mpl",
+        "//third_party/boostorg/multi_array",
+        "//third_party/boostorg/multi_index",
+        "//third_party/boostorg/numeric_conversion",
+        "//third_party/boostorg/optional",
+        "//third_party/boostorg/predef",
+        "//third_party/boostorg/preprocessor",
+        "//third_party/boostorg/range",
+        "//third_party/boostorg/serialization",
+        "//third_party/boostorg/smart_ptr",
+        "//third_party/boostorg/static_assert",
+        "//third_party/boostorg/throw_exception",
+        "//third_party/boostorg/tuple",
+        "//third_party/boostorg/type_index",
+        "//third_party/boostorg/type_traits",
+        "//third_party/boostorg/typeof",
+        "//third_party/boostorg/ublas",
+        "//third_party/boostorg/units",
+        "//third_party/boostorg/utility",
+    ],
+)
diff --git a/third_party/boostorg/range/BUILD b/third_party/boostorg/range/BUILD
new file mode 100644
index 0000000..b68cee7
--- /dev/null
+++ b/third_party/boostorg/range/BUILD
@@ -0,0 +1,8 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "range",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+)
diff --git a/third_party/boostorg/serialization/BUILD b/third_party/boostorg/serialization/BUILD
new file mode 100644
index 0000000..5f60759
--- /dev/null
+++ b/third_party/boostorg/serialization/BUILD
@@ -0,0 +1,8 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "serialization",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+)
diff --git a/third_party/boostorg/smart_ptr/BUILD b/third_party/boostorg/smart_ptr/BUILD
new file mode 100644
index 0000000..f2f1352
--- /dev/null
+++ b/third_party/boostorg/smart_ptr/BUILD
@@ -0,0 +1,8 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "smart_ptr",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+)
diff --git a/third_party/boostorg/static_assert/BUILD b/third_party/boostorg/static_assert/BUILD
new file mode 100644
index 0000000..da56484
--- /dev/null
+++ b/third_party/boostorg/static_assert/BUILD
@@ -0,0 +1,8 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "static_assert",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+)
diff --git a/third_party/boostorg/throw_exception/BUILD b/third_party/boostorg/throw_exception/BUILD
new file mode 100644
index 0000000..32998e8
--- /dev/null
+++ b/third_party/boostorg/throw_exception/BUILD
@@ -0,0 +1,11 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "throw_exception",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//third_party/boostorg/assert",
+    ],
+)
diff --git a/third_party/boostorg/tuple/BUILD b/third_party/boostorg/tuple/BUILD
new file mode 100644
index 0000000..040c778
--- /dev/null
+++ b/third_party/boostorg/tuple/BUILD
@@ -0,0 +1,8 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "tuple",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+)
diff --git a/third_party/boostorg/type_index/BUILD b/third_party/boostorg/type_index/BUILD
new file mode 100644
index 0000000..3801d5c
--- /dev/null
+++ b/third_party/boostorg/type_index/BUILD
@@ -0,0 +1,8 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "type_index",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+)
diff --git a/third_party/boostorg/type_traits/BUILD b/third_party/boostorg/type_traits/BUILD
new file mode 100644
index 0000000..672a32c
--- /dev/null
+++ b/third_party/boostorg/type_traits/BUILD
@@ -0,0 +1,8 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "type_traits",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+)
diff --git a/third_party/boostorg/typeof/BUILD b/third_party/boostorg/typeof/BUILD
new file mode 100644
index 0000000..781e0e1
--- /dev/null
+++ b/third_party/boostorg/typeof/BUILD
@@ -0,0 +1,8 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "typeof",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+)
diff --git a/third_party/boostorg/ublas/BUILD b/third_party/boostorg/ublas/BUILD
new file mode 100644
index 0000000..4544f9f
--- /dev/null
+++ b/third_party/boostorg/ublas/BUILD
@@ -0,0 +1,8 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "ublas",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+)
diff --git a/third_party/boostorg/units/BUILD b/third_party/boostorg/units/BUILD
new file mode 100644
index 0000000..26e5dbb
--- /dev/null
+++ b/third_party/boostorg/units/BUILD
@@ -0,0 +1,8 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "units",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+)
diff --git a/third_party/boostorg/utility/BUILD b/third_party/boostorg/utility/BUILD
new file mode 100644
index 0000000..8d38605
--- /dev/null
+++ b/third_party/boostorg/utility/BUILD
@@ -0,0 +1,8 @@
+licenses(["notice"])  # boost
+
+cc_library(
+    name = "utility",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+)
diff --git a/third_party/ct/BUILD b/third_party/ct/BUILD
index 6455466..97e8111 100644
--- a/third_party/ct/BUILD
+++ b/third_party/ct/BUILD
@@ -2,11 +2,6 @@
 
 cc_library(
     name = "ct",
-    includes = [
-        "ct_optcon/include",
-        "ct_core/include",
-        "ct_core/include/external",
-    ],
     hdrs = [
         "ct_optcon/include/ct/optcon/optcon.h",
         "ct_core/include/ct/core/core.h",
@@ -260,10 +255,6 @@
         "ct_optcon/include/ct/optcon/mpc/policyhandler/PolicyHandler-impl.h",
         "ct_optcon/include/ct/optcon/mpc/policyhandler/default/StateFeedbackPolicyHandler-impl.h",
     ] + glob(["ct_core/include/external/cppad/**/*.hpp"]),
-    deps = [
-        "//third_party/hpipm",
-        "//third_party/eigen",
-    ],
     copts = [
         "-Wno-pointer-arith",
         "-Wno-unused-variable",
@@ -272,6 +263,19 @@
     defines = [
         "HPIPM=1",
     ],
-    visibility = ["//visibility:public"],
+    includes = [
+        "ct_core/include",
+        "ct_core/include/external",
+        "ct_optcon/include",
+    ],
     restricted_to = ["//tools:k8"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//third_party/boostorg/algorithm",
+        "//third_party/boostorg/config",
+        "//third_party/boostorg/odeint",
+        "//third_party/boostorg/property_tree",
+        "//third_party/eigen",
+        "//third_party/hpipm",
+    ],
 )