#include <algorithm>#include <string>#include <assert.h>#include <sdf/sdf.hh>#include <gazebo/physics/World.hh>#include <gazebo/physics/HingeJoint.hh>#include <gazebo/sensors/Sensor.hh>#include <gazebo/common/Exception.hh>#include <gazebo/sensors/GpuRaySensor.hh>#include <gazebo/sensors/SensorTypes.hh>#include <gazebo/transport/transport.hh>#include <gazebo/gazebo_config.h>#include <tf/tf.h>#include <tf/transform_listener.h>#include "gazebo_plugins/gazebo_ros_gpu_laser.h"#include <gazebo_plugins/gazebo_ros_utils.h>
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