#include "g2o_solver.hpp"
#include "g2o/core/block_solver.h"
#include "g2o/core/factory.h"
#include "g2o/core/robust_kernel_impl.h"
#include "g2o/core/optimization_algorithm_factory.h"
#include "g2o/core/optimization_algorithm_levenberg.h"
#include "g2o/types/slam2d/types_slam2d.h"
#include "g2o/solvers/cholmod/linear_solver_cholmod.h"
#include "g2o/solvers/csparse/linear_solver_csparse.h"
#include <karto_sdk/Karto.h>
#include <ros/console.h>
#include <pluginlib/class_list_macros.h>
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