#include "pr2_controller_manager/controller_manager.h"#include <pthread.h>#include <map>#include <string>#include <vector>#include "ros/ros.h"#include "pr2_controller_manager/controller_spec.h"#include <tinyxml/tinyxml.h>#include <pr2_hardware_interface/hardware_interface.h>#include <pr2_mechanism_model/robot.h>#include <realtime_tools/realtime_publisher.h>#include <ros/node_handle.h>#include <pr2_controller_interface/controller_provider.h>#include "pluginlib/class_loader.h"#include <pr2_mechanism_msgs/ListControllerTypes.h>#include <pr2_mechanism_msgs/ListControllers.h>#include <pr2_mechanism_msgs/ReloadControllerLibraries.h>#include <pr2_mechanism_msgs/LoadController.h>#include <pr2_mechanism_msgs/UnloadController.h>#include <pr2_mechanism_msgs/SwitchController.h>#include <pr2_mechanism_msgs/MechanismStatistics.h>#include <sensor_msgs/JointState.h>#include <boost/thread/condition.hpp>#include <algorithm>#include <boost/thread/thread.hpp>#include <sstream>#include "ros/console.h"
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