#include <map>
#include <gazebo/common/common.hh>
#include <gazebo/physics/physics.hh>
#include <gazebo_plugins/gazebo_ros_utils.h>
#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <tf/transform_listener.h>
#include <geometry_msgs/Twist.h>
#include <geometry_msgs/Pose2D.h>
#include <nav_msgs/Odometry.h>
#include <sensor_msgs/JointState.h>
#include <ros/callback_queue.h>
#include <ros/advertise_options.h>
#include <boost/thread.hpp>
#include <boost/bind.hpp>
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