#include <nav_core_adapter/global_planner_adapter2.h>#include <nav_core_adapter/costmap_adapter.h>#include <nav_2d_utils/conversions.h>#include <nav_2d_utils/tf_help.h>#include <nav_core2/exceptions.h>#include <pluginlib/class_list_macros.h>#include <memory>#include <string>#include <vector>
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