#include "ros/ros.h"
#include <xmlrpcpp/XmlRpc.h>
#include <tf2/LinearMath/Transform.h>
#include "octomap/octomap.h"
#include <pcl/point_cloud.h>
#include <pcl/octree/octree.h>
#include <ros/package.h>
#include <yaml-cpp/yaml.h>
#include <fstream>
#include "bridge/abstract_base.h"
#include "reader/map_reader.h"
#include "reader/ts_reader.h"
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