#include <ias_drawer_executive/RobotArm.h>#include <ias_drawer_executive/Pressure.h>#include <ias_drawer_executive/Geometry.h>#include <ias_drawer_executive/RobotDriver.h>#include <boost/thread.hpp>#include <visualization_msgs/Marker.h>#include <kinematics_msgs/GetKinematicSolverInfo.h>#include <kinematics_msgs/GetPositionFK.h>#include <stdio.h>#include <stdlib.h>