For fun and profit I just ran include-what-you-use on our code base and put the results here. I wanted to make it a gist, but it seem 23k lines is too much for that :)

Please have a look and tell me what you think of incorporating these changes (partially?) into MoveIt.

The idea is

1. to reduce compile time by dropping unnecessary (or unnecessarily general) includes and
2. improve correctness by not relying on transitive includes

@JafarAbdi @henningkayser @tylerjw @rhaschke and whoever else feels responsible :-)