Like the first tracker package, there is no special difference in the control package; the difference is in the dependencies. Here, the main dependency is dynamixel_controllers. We are not using OpenCV in this package, so there's no need to include it:

    cmake_minimum_required(VERSION 2.8.3) 
    project(face_tracker_control) 
    find_package(catkin REQUIRED COMPONENTS 
      dynamixel_controllers 
      roscpp 
      rospy 
      std_msgs 
      message_generation 
    ) 
    find_package(Boost REQUIRED COMPONENTS system) 
    add_message_files( 
       FILES 
       centroid.msg 
     ) 
    ## Generate added messages and services with any dependencies 
    listed here 
     generate_messages( 
       DEPENDENCIES 
      std_msgs 
    
     ) 
    catkin_package( 
      CATKIN_DEPENDS dynamixel_controllers roscpp rospy std_msgs 
    ) 
    include_directories( 
      ${catkin_INCLUDE_DIRS} 
    ) 
    add_executable(face_tracker_controller 
    src/face_tracker_controller.cpp) 
    target_link_libraries(face_tracker_controller ${catkin_LIBRARIES})