#include <ros/ros.h>#include <roslib/Header.h>#include <pluginlib/class_list_macros.h>#include "Poco/Foundation.h"#include <string>#include <stdexcept>#include "Poco/Exception.h"#include <pthread.h>#include <errno.h>#include <set>#include <map>#include <typeinfo>#include "sharedmem_transport/sharedmem_publisher.h"#include "sharedmem_transport/sharedmem_subscriber.h"

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