#include <vector>#include <thread>#include <mutex>#include <boost/scoped_ptr.hpp>#include <cob_obstacle_distance/link_to_collision.hpp>#include <ros/ros.h>#include <kdl_parser/kdl_parser.hpp>#include <kdl/tree.hpp>#include <kdl/frames.hpp>#include <Eigen/Dense>#include <tf/tf.h>#include <tf/transform_listener.h>#include <tf_conversions/tf_kdl.h>#include <tf_conversions/tf_eigen.h>#include <sensor_msgs/JointState.h>#include <moveit_msgs/CollisionObject.h>#include "cob_srvs/SetString.h"#include "cob_obstacle_distance/marker_shapes/marker_shapes.hpp"#include "cob_obstacle_distance/shapes_manager.hpp"#include "cob_obstacle_distance/chainfk_solvers/advanced_chainfksolver_recursive.hpp"#include "cob_obstacle_distance/obstacle_distance_data_types.hpp"
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