#include <map>#include <string>#include <gazebo/physics/World.hh>#include <gazebo/physics/HingeJoint.hh>#include <gazebo/physics/Contact.hh>#include <gazebo/sensors/Sensor.hh>#include <sdf/sdf.hh>#include <sdf/Param.hh>#include <gazebo/common/Exception.hh>#include <gazebo/sensors/SensorTypes.hh>#include <gazebo/math/Pose.hh>#include <gazebo/math/Quaternion.hh>#include <gazebo/math/Vector3.hh>#include <tf/tf.h>#include <gazebo_plugins/gazebo_ros_bumper.h>#include <gazebo_plugins/gazebo_ros_utils.h>
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