#include <exception>
#include <algorithm>
#include <cassert>
#include <iostream>
#include <cstring>
#include <fstream>
#include <iterator>
#include <queue>
#include "gnav.h"
#include "config_data.h"
#include "service_if.h"
#include "debug_utils.h"
#include "baseRTC.h"
#include "navigation_data.h"
#include "Localization.h"
#include "GridMap.h"
#include "Path.h"