#include <vector>#include <ros/ros.h>#include <ros/time.h>#include <image_transport/image_transport.h>#include <cv_bridge/cv_bridge.h>#include <opencv2/core/core.hpp>#include <tf2_ros/transform_broadcaster.h>#include <tf2_ros/transform_listener.h>#include <tf2_ros/buffer.h>#include <tf2_geometry_msgs/tf2_geometry_msgs.h>#include <dynamic_reconfigure/server.h>#include <orb_slam2_ros/dynamic_reconfigureConfig.h>#include "orb_slam2_ros/SaveMap.h"#include <message_filters/subscriber.h>#include <message_filters/time_synchronizer.h>#include <message_filters/sync_policies/approximate_time.h>#include <sensor_msgs/image_encodings.h>#include <sensor_msgs/PointCloud2.h>#include <geometry_msgs/PoseStamped.h>#include <sensor_msgs/CameraInfo.h>#include <std_msgs/Bool.h>#include "System.h"
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