#include <ros/ros.h>#include <moveit/move_group_interface/move_group_interface.h>#include <moveit/robot_state/robot_state.h>#include <moveit/planning_interface/planning_interface.h>#include <moveit/robot_model_loader/robot_model_loader.h>#include <moveit/robot_model/robot_model.h>#include <moveit_msgs/DisplayTrajectory.h>#include <trajectory_msgs/JointTrajectory.h>#include <trajectory_msgs/JointTrajectoryPoint.h>#include <vector>#include <std_msgs/String.h>#include <std_msgs/Float64.h>#include <std_msgs/Float64MultiArray.h>#include <geometry_msgs/PoseStamped.h>#include "open_manipulator_msgs/OpenManipulatorState.h"#include "open_manipulator_msgs/GetJointPosition.h"#include "open_manipulator_msgs/GetKinematicsPose.h"#include "open_manipulator_msgs/SetJointPosition.h"#include "open_manipulator_msgs/SetKinematicsPose.h"
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