#include <stdio.h>
#include <string.h>
#include <errno.h>
#include <termios.h>
#include <math.h>
#include <poll.h>
#include <signal.h>
#include <fcntl.h>
#include <iostream>
#include <fstream>
#include "CANUSB.h"
#include <ros/ros.h>
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