#include "cartesian_path_service_capability.h"#include <moveit/moveit_cpp/moveit_cpp.h>#include <moveit/robot_state/conversions.h>#include <moveit/utils/message_checks.h>#include <moveit/collision_detection/collision_tools.h>#include <tf2_eigen/tf2_eigen.hpp>#include <moveit/move_group/capability_names.h>#include <moveit/planning_pipeline/planning_pipeline.h>#include <moveit/robot_state/robot_state.h>#include <moveit/robot_state/cartesian_interpolator.h>#include <moveit_msgs/msg/display_trajectory.hpp>#include <moveit/trajectory_processing/time_optimal_trajectory_generation.h>#include <moveit/utils/logger.hpp>#include <pluginlib/class_list_macros.hpp>
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