#include <sr_gazebo_plugins/gazebo_ros_controller_manager.h>#include <fstream>#include <iostream>#include <math.h>#include <unistd.h>#include <set>#include <gazebo/physics/World.hh>#include <gazebo/physics/HingeJoint.hh>#include <gazebo/sensors/Sensor.hh>#include <gazebo/common/Exception.hh>#include <gazebo/physics/PhysicsTypes.hh>#include <gazebo/physics/Base.hh>#include <sdf/sdf.hh>#include <sdf/Param.hh>#include <angles/angles.h>#include <urdf/model.h>#include <map>#include <sr_hardware_interface/sr_actuator.hpp>
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