5 #include <xmlrpcpp/XmlRpc.h>
6 #include <tf2/LinearMath/Transform.h>
8 #include "octomap/octomap.h"
9 #include <pcl/point_cloud.h>
10 #include <pcl/octree/octree.h>
13 #include <ros/package.h>
14 #include <yaml-cpp/yaml.h>
36 Simple_base(std::shared_ptr<ros::NodeHandle>
const& d);
44 std::map<const std::string, std::vector<pcl::PointXYZ>>
base_calculation()
override;