So I'm playing through Undying Heritage and I'm at the part where I need Icantha to give me the command words. However, there is no option for this when I talk to her. I'm playing a good guy so I don't care about feeding the guy on top of the tower and I've released all the prisoners.

 

Is there something I need to do to trigger a conversation with her for these command words or is this just a bug?

I'm having this same issue, can't figure a way around it or what I may have missed.

I figured it out, I had to go back and kill Aldhem on top of the tower and take his journal. Then I had the conversation option with Icantha.