#include <algorithm>#include <iostream>#include <queue>#include <set>#include <eigen_conversions/eigen_kdl.h>#include <geometric_shapes/mesh_operations.h>#include <geometric_shapes/shape_operations.h>#include <moveit/robot_model/robot_model.h>#include <octomap_msgs/Octomap.h>#include <octomap_msgs/conversions.h>#include <tf_conversions/tf_kdl.h>#include <kdl/frames_io.hpp>#include <kdl_parser/kdl_parser.hpp>#include <exotica_core/kinematic_tree.h>#include <exotica_core/server.h>#include <exotica_core/tools.h>
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