#include <string>#include <ros/ros.h>#include <diagnostic_msgs/DiagnosticArray.h>#include <geometry_msgs/Twist.h>#include <sensor_msgs/PointCloud2.h>#include <sensor_msgs/point_cloud2_iterator.h>#include <std_msgs/Empty.h>#include <safety_limiter_msgs/SafetyLimiterStatus.h>#include <tf2_geometry_msgs/tf2_geometry_msgs.h>#include <tf2_ros/transform_broadcaster.h>#include <gtest/gtest.h>
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