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<p>: Contains the abstract Controller class  
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<div class="textblock"><code>#include &lt;ros/ros.h&gt;</code><br />
<code>#include &lt;nav_core/base_local_planner.h&gt;</code><br />
<code>#include &lt;base_local_planner/odometry_helper_ros.h&gt;</code><br />
<code>#include &lt;nav_msgs/Path.h&gt;</code><br />
<code>#include &lt;geometry_msgs/PoseStamped.h&gt;</code><br />
<code>#include &lt;geometry_msgs/PointStamped.h&gt;</code><br />
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