#include "ros/ros.h"#include "std_msgs/Float64.h"#include "sensor_msgs/JointState.h"#include "sensor_msgs/Imu.h"#include "std_srvs/Empty.h"#include "tf/transform_broadcaster.h"#include "urdf/model.h"#include "actionlib/server/simple_action_server.h"#include "hebiros/EntryMsg.h"#include "hebiros/EntryListMsg.h"#include "hebiros/FeedbackMsg.h"#include "hebiros/WaypointMsg.h"#include "hebiros/CommandMsg.h"#include "hebiros/SettingsMsg.h"#include "hebiros/PidGainsMsg.h"#include "hebiros/EntryListSrv.h"#include "hebiros/AddGroupFromNamesSrv.h"#include "hebiros/AddGroupFromURDFSrv.h"#include "hebiros/AddModelFromURDFSrv.h"#include "hebiros/SizeSrv.h"#include "hebiros/SetFeedbackFrequencySrv.h"#include "hebiros/SetCommandLifetimeSrv.h"#include "hebiros/SendCommandWithAcknowledgementSrv.h"#include "hebiros/TrajectoryAction.h"#include "color.hpp"#include "command.hpp"#include "feedback.hpp"#include "group.hpp"#include "group_command.hpp"#include "group_feedback.hpp"#include "group_info.hpp"#include "info.hpp"#include "robot_model.hpp"#include "log_file.hpp"#include "lookup.hpp"#include "mac_address.hpp"#include "trajectory.hpp"#include "util.hpp"#include "hebiros_services.h"#include "hebiros_services_gazebo.h"#include "hebiros_services_physical.h"#include "hebiros_subscribers.h"#include "hebiros_subscribers_gazebo.h"#include "hebiros_subscribers_physical.h"#include "hebiros_publishers.h"#include "hebiros_publishers_gazebo.h"#include "hebiros_publishers_physical.h"#include "hebiros_clients.h"#include "hebiros_actions.h"#include "hebiros_group.h"#include "hebiros_group_gazebo.h"#include "hebiros_group_physical.h"#include "hebiros_parameters.h"#include "hebiros_model.h"#include <iostream>#include <chrono>#include <thread>#include <mutex>#include <boost/bind.hpp>#include <execinfo.h>#include <signal.h>
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