#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 <ignition/math/Pose3.hh>
#include <ignition/math/Quaternion.hh>
#include <ignition/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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