fix: breaking changes

Author: Meow404

multibody/multipose_visualizer.h

@@ -67,10 +67,6 @@ class MultiposeVisualizer {
     return meshcat_;
   }
 
-  const std::shared_ptr<drake::geometry::Meshcat> GetMeshcat(){
-    return meshcat_;
-  }
-
  private:
   int num_poses_;
   drake::multibody::MultibodyPlant<double>* plant_;

systems/controllers/gravity_compensator.h

@@ -7,6 +7,8 @@
 
 #include <Eigen/Core>
 #include <Eigen/Dense>
+#include <drake/systems/framework/continuous_state.h>
+#include <drake/systems/framework/vector_base.h>
 
 #include "systems/framework/output_vector.h"
 #include "drake/systems/framework/leaf_system.h"
@@ -46,4 +48,4 @@ class GravityCompensationRemover : public LeafSystem<double> {
 };
 
 }  // namespace systems
-}  // namespace dairlib
+}  // namespace dairlib

systems/vector_scope.h

@@ -1,5 +1,11 @@
 #pragma once
 
+#include <string>
+
+#include "drake/systems/framework/context.h"
+#include "drake/systems/framework/event_status.h"
+#include "drake/systems/framework/leaf_system.h"
+
 namespace dairlib {
 namespace systems {