#include <frontier_exploration/bounded_explore_layer.h>#include <pluginlib/class_list_macros.h>#include <geometry_msgs/PolygonStamped.h>#include <costmap_2d/costmap_2d.h>#include <costmap_2d/footprint.h>#include <sensor_msgs/PointCloud2.h>#include <pcl_ros/point_cloud.h>#include <pcl/point_cloud.h>#include <pcl/point_types.h>#include <boost/foreach.hpp>#include <frontier_exploration/Frontier.h>#include <frontier_exploration/UpdateBoundaryPolygon.h>#include <frontier_exploration/GetNextFrontier.h>#include <frontier_exploration/frontier_search.h>#include <frontier_exploration/geometry_tools.h>
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