#include <stdio.h>#include <stdlib.h>#include <unistd.h>#include <string.h>#include <sys/types.h>#include <sys/socket.h>#include <netinet/in.h>#include <netdb.h>#include <string>#include <ros/ros.h>#include <geometry_msgs/Twist.h>#include "sensor_msgs/LaserScan.h"#include "sensor_msgs/PointCloud2.h"#include <nav_msgs/Odometry.h>#include <geometry_msgs/PoseWithCovarianceStamped.h>#include <tf/transform_datatypes.h>#include <tf/transform_listener.h>#include <nav_msgs/OccupancyGrid.h>#include <move_base_msgs/MoveBaseAction.h>#include <actionlib/client/simple_action_client.h>#include <kobuki_msgs/BumperEvent.h>#include <kobuki_msgs/CliffEvent.h>#include <kobuki_msgs/WheelDropEvent.h>#include "../utils/utility_lib.h"
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