#include <ros/ros.h>#include <kdl/tree.hpp>#include <kdl/kdl.hpp>#include <kdl/chain.hpp>#include <kdl/chainiksolvervel_wdls.hpp>#include <kdl/chainjnttojacsolver.hpp>#include <kdl/chainfksolverpos_recursive.hpp>#include <kdl/chainfksolvervel_recursive.hpp>#include <kdl/chainfksolveracc_recursive.hpp>
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