#include <ros/ros.h>#include <nav_msgs/OccupancyGrid.h>#include <tuw_voronoi_map/voronoi_path_generator.h>#include <tuw_voronoi_map/thinning.h>#include <memory>#include <opencv2/core/core.hpp>#include <opencv2/highgui/highgui.hpp>#include <opencv2/imgproc/imgproc.hpp>#include <queue>#include <string>
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