#include <termios.h>#include <signal.h>#include <string>#include <vector>#include <ros/ros.h>#include <std_srvs/Empty.h>#include <geometry_msgs/Pose.h>#include <geometry_msgs/Twist.h>#include <sensor_msgs/JointState.h>#include <tf/transform_broadcaster.h>#include <tf/transform_listener.h>#include <Eigen/Dense>#include <Eigen/SVD>#include <kdl_parser/kdl_parser.hpp>#include <kdl/chainiksolvervel_pinv.hpp>#include <kdl/chainfksolvervel_recursive.hpp>#include <kdl/frames.hpp>#include <kdl/framevel.hpp>#include <kdl/jntarray.hpp>#include <kdl/jntarrayvel.hpp>#include <boost/thread.hpp>
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