#include <math.h>#include <Eigen/StdVector>#include <Eigen/Dense>#include "ros/this_node.h"#include "ros/names.h"#include "ros/node_handle.h"#include "ros/rate.h"#include "sensor_msgs/JointState.h"#include "geometry_msgs/Pose.h"#include "tf/tfMessage.h"#include "geometry_msgs/PoseStamped.h"#include "iri_wam_common_msgs/pose_move.h"#include "iri_wam_common_msgs/joints_move.h"#include <tf/transform_broadcaster.h>#include <tf/transform_listener.h>#include "tf/transform_datatypes.h"
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