diff --git a/CHANGELOG.md b/CHANGELOG.md
index 54b5de1b1ae8832aa51f3e9b763b141609f9e9a5..6178646ba0ad44f5a170b41b92e80e4775a9e089 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,11 @@
 # CHANGELOG
 
+## 0.4.1 - UNRELEASED
+
+Requires `libfranka` >= 0.3.0
+
+  * Added some missing includes to `franka_hw`
+
 ## 0.4.0 - 2018-03-26
 
 Requires `libfranka` >= 0.3.0
diff --git a/franka_hw/include/franka_hw/control_mode.h b/franka_hw/include/franka_hw/control_mode.h
index 281f842a3b1e9e1ed69f1934a9ab401a12e874cd..ccf6915a76fb9a772647ec5a0dd6ca99ebbc8f7e 100644
--- a/franka_hw/include/franka_hw/control_mode.h
+++ b/franka_hw/include/franka_hw/control_mode.h
@@ -3,6 +3,7 @@
 #pragma once
 
 #include <ostream>
+#include <type_traits>
 
 namespace franka_hw {
 
diff --git a/franka_hw/src/control_mode.cpp b/franka_hw/src/control_mode.cpp
index 8ff3d47211d85f1abd4fc997633f67b8cdcbb144..c8c724fecbb3a8eb4764f2e770973e20f31b6cf9 100644
--- a/franka_hw/src/control_mode.cpp
+++ b/franka_hw/src/control_mode.cpp
@@ -4,6 +4,7 @@
 
 #include <algorithm>
 #include <iterator>
+#include <string>
 #include <vector>
 
 namespace franka_hw {