#include <algorithm>#include <string>#include <assert.h>#include <gazebo/physics/World.hh>#include <gazebo/physics/HingeJoint.hh>#include <gazebo/sensors/Sensor.hh>#include <gazebo/common/Exception.hh>#include <gazebo/sensors/RaySensor.hh>#include <gazebo/sensors/SensorTypes.hh>#include <gazebo/transport/transport.hh>#include <sdf/sdf.hh>#include <sdf/Param.hh>#include <tf/tf.h>#include <tf/transform_listener.h>#include "pheeno_ros_sim/gazebo_ros_ir_sensor.h"
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