5 #include <xmlrpcpp/XmlRpc.h>
6 #include <tf2/LinearMath/Transform.h>
7 #include <octomap/octomap.h>
8 #include <pcl/point_cloud.h>
9 #include <pcl/octree/octree.h>
10 #include <ros/package.h>
11 #include <yaml-cpp/yaml.h>
34 SimpleBase(std::shared_ptr<ros::NodeHandle>
const& d);