Update dependencies

package.xml

-<package format="2">
+<?xml version="1.0"?>
+<package format="3">
   <name>dynamic-graph-tutorial</name>
   <version>1.2.1</version>
   <description>
@@ -13,9 +14,12 @@
 
   <build_depend>dynamic-graph</build_depend>
   <build_depend>dynamic-graph-python</build_depend>
-  <depend>doxygen</depend>
-  <depend>git</depend>
-
+  <build_depend>git</build_depend>
+  <build_depend>doxygen</build_depend>
+  <!-- The following tags are recommended by REP-136 -->
+  <exec_depend condition="$ROS_VERSION == 1">catkin</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">ament_cmake</exec_depend>
+  <depend>boost</depend>
 
   <doc_depend>doxygen</doc_depend>