diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index 434adc400c..423c45c1dc 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -28,7 +28,7 @@ jobs:
       # TODO(andyz): When this clang-tidy issue is fixed, remove -Wno-unknown-warning-option
       # https://stackoverflow.com/a/41673702
       CXXFLAGS: >-
-        -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wno-unknown-warning-option -Wno-cpp
+        -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wno-unknown-warning-option
       CLANG_TIDY_ARGS: --fix --fix-errors --format-style=file
       DOCKER_IMAGE: moveit/moveit2:${{ matrix.env.IMAGE }}
       UPSTREAM_WORKSPACE: >
diff --git a/moveit_ros/moveit_servo/src/servo_node.cpp b/moveit_ros/moveit_servo/src/servo_node.cpp
index 0226472215..06a2d716d3 100644
--- a/moveit_ros/moveit_servo/src/servo_node.cpp
+++ b/moveit_ros/moveit_servo/src/servo_node.cpp
@@ -38,9 +38,14 @@
  *
  */
 
-#include <moveit_servo/servo_node.hpp>
+#if __has_include(<realtime_tools/realtime_helpers.hpp>)
+#include <realtime_tools/realtime_helpers.hpp>
+#else
 #include <realtime_tools/thread_priority.hpp>
+#endif
+
 #include <moveit/utils/logger.hpp>
+#include <moveit_servo/servo_node.hpp>
 
 namespace moveit_servo
 {