Include missing rcl headers in use. (#782)

And stop relying on transitive dependencies.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

rclcpp/test/test_parameter_map.cpp

@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include <gtest/gtest.h>
+#include <rcl/allocator.h>
 #include <rcl_yaml_param_parser/parser.h>
 #include <rcutils/strdup.h>