#include <base_local_planner/trajectory_planner.h>#include <costmap_2d/footprint.h>#include <string>#include <sstream>#include <math.h>#include <angles/angles.h>#include <boost/algorithm/string.hpp>#include <ros/console.h>#include <queue>#include <tf2/LinearMath/Matrix3x3.h>#include <tf2/utils.h>
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