We'll use the 2dnav_pr2 package as a case study. Learn more. Accessing the DDS implementation would require depending on an additional package which is not normally used. The package rosidl_typesupport_opensplice_cpp generates: The package rmw_implementation provides the mechanism to switch between compile time and runtime selection of the middleware implementation. If you want to use a 32 bit OS with an earlier release, see these commits: https://github.com/sniekum/ar_track_alvar/commit/55594e085db9b5183b1653597f2a73012252bbd4 https://github.com/sniekum/ar_track_alvar/commit/1b85b17faa3ccf515c401d6787b11d5ab3118144. Note: Due to the circular buffer structure, neighbouring indices might not fall close in the map frame. From ADLINKs website, they support TCP as of OpenSplice v6.4: https://www.adlinktech.com/en/data-distribution-service.aspx. Several basic filters are provided in the grid_map_filters package: Set values in the output layer to a specified value if the condition_layer is exceeding either the upper or lower threshold (only one threshold at a time). This package provides an efficient algorithm to convert an elevation map into a dense 3D signed distance field. Therefore, DDS would provide discovery, publish-subscribe transport, and at least the underlying message serialization for ROS. Based on the general structure of ROS nodes, publishers and messages for the case of publishing messages the ROS client library need to invoke three functions on the middleware interface: Subsequent invocations of create_publisher need to refer to the specific node they should be created in. roslaunch takes in one or more XML configuration files (with the .launch extension) that specify the parameters to set and nodes to launch, as well as the eProsimas implementation also includes a minimum DDS API, IDL support, and automatic code generation and they are open to working with the ROS community to meet their needs. ROS 2 could either implement services and actions on top of publish-subscribe (this is more feasible in DDS because of their reliable publish-subscribe QoS setting) or it could use the DDS RPC specification once it is finished for services and then build actions on top, again like it is in ROS 1. DDS has two different ways to use and interact with messages. Transmissions link actuators to joints and represents their mechanical coupling. This same intraprocess communication mechanism would be needed for a custom middleware built on ZeroMQ, for example. A robot is any system that can perceive the H option stands for process hierarchy. The see the results, use, filters_demo uses a chain of ROS Filters to process a grid map. the list of fields of the message where each includes: the list of constants defined in the message (again consisting of name, type and value). CMake is an open-source, cross-platform family of tools designed to build, test and package software. For C compatibility an approach using a macro will be used instead which mangles the type name into the function name. It is intended to be high performance and avoids deserialization and reserialization of the messages. Grid map features four different interpolation methods (in order of increasing accuracy and increasing complexity): For more details check the literature listed in CubicInterpolation.hpp file. This RViz plugin visualizes a grid map layer as 3d surface plot (height map). So it comes as no surprise that the community for DDS looks very different from the ROS community and that of similar modern software projects like ZeroMQ. DDS provides discovery, message definition, message serialization, and publish-subscribe transport. The definition for the middleware specific data types can be derived from the information specified in the ROS message files. This tutorial covers using roscreate-pkg or catkin to create a new package, and rospack to list package dependencies. In this way you can tell if a package has tied itself to a particular DDS vendor by just looking at the package dependencies. Thanks! In another scenario you might need something that behaves like TCP, but needs to be more tolerant to long dropouts, and with DDS all of these things can be controlled by changing the QoS parameters. This work is conducted as part of ANYmal Research, a community to advance legged robotics. Specify the layer to be visualized with the layer parameter, and the upper and lower bound with data_min and data_max. This projected was initially developed at ETH Zurich (Autonomous Systems Lab & Robotic Systems Lab). This information includes: the name of the package in which the message is defined. Note: In order to omit points in the flat point cloud from empty/invalid cells, specify the layers which should be checked for validity with setBasicLayers(). This provides a considerable performance increase for DDS, whereas it did not for ROS 1, because the localhost networking optimization happens at the call to send. A tag already exists with the provided branch name. The driver is released at longer intervals as a binary package and can therefore be installed via the package manager. The information encapsulated by the topic type argument is highly dependent on the middleware implementation. A local attacker could use this to cause a denial of service (system crash) or possibly execute arbitrary code. The main new feature being planned for rosbag is the addition of a ROS API for interacting with the playing and recording nodes via service calls. An introduction to the grid map library including a tutorial is given in this book chapter. Compute the normal vectors of a layer in a map. The package rmw_connext_cpp implements the middleware interface using RTI Connext DDS based on statically generated code. Now, depending on your perspective, this may be a positive endorsement or a negative endorsement. The package rmw_opensplice_cpp implements the middleware interface using PrismTech OpenSplice DDS based on statically generated code. Therefore, while the messages in this package can be useful for quick prototyping, they are NOT intended for "long-term" usage. Based on that the developed middleware interface is explained. Therefore ROS aims to support multiple DDS implementations despite the fact that each of them differ slightly in their exact API. Therefore for each message the code to perform the following tasks must be generated separately: The information encapsulated by the topic type must include the function pointers to invoke these functions. It is not required to use the dynamic discovery mechanism, however, as multiple DDS vendors provide options for static discovery. The API is designed as a pure function-based interface in order to be implemented in C. marker_size (double) -- The width in centimeters of one side of the black square marker border, max_new_marker_error (double) -- A threshold determining when new markers can be detected under uncertainty, max_track_error (double) -- A threshold determining how much tracking error can be observed before an tag is considered to have disappeared, camera_image (string) -- The name of the topic that provides camera frames for detecting the AR tags. An action can be to compute a path, control effort, recovery, or any other navigation related action. There should be one file for each bundle that is to be detected. But it is possible to write generic code which performs the task for any ROS .msg specification passed in. The effort to support N packages with M different middleware implementations would require significant resources (M * N) for maintaining the service as well as the necessary computing power. Check out the ROS 2 Documentation. For ROS 1 the process was: serialize the message into one large buffer, call TCPs send on the buffer once. Instead it is passed as a void pointer and the actual implementation reinterprets it according to the previously registered type. Note: Color values are in RGB form as concatenated integers (for each channel value 0-255). tf maintains the relationship between coordinate frames in a tree structure buffered in time, and lets the user transform points, vectors, etc between any two coordinate frames at any desired point in time. This tutorial covers using roscreate-pkg or catkin to create a new package, and rospack to list package dependencies. WebSentence structure is as follows: First word should contain command word; Should contain zero length word to terminate the sentence; Can contain none or several attribute words. 2011 was a banner year for ROS with the launch of ROS Answers, a Q/A forum for ROS users, on 15 February; the introduction of the highly successful TurtleBot robot kit on 18 April; and the total number of ROS repositories passing 100 on 5 May. See EigenLab for the documentation of the expressions. A local attacker could use this to cause a denial of service (system crash) or possibly execute arbitrary code. There is currently an RPC specification being considered for ratification in the OMG DDS working group, and several of the DDS vendors have a draft implementation of the RPC API. Not only has DDS met the needs of these use cases, but after talking with users of DDS (in this case government and NASA employees who are also users of ROS), they have all praised its reliability and flexibility. Author: Pter Fankhauser Please help updating this page. This means that DDS has to reinvent the reliability wheel (basically TCP plus or minus some features), but in exchange DDS gains portability and control over the behavior. OpenSplice appears to be the number two DDS implementation in use, but that is hard to tell for sure. On the other hand the message can be specified programmatically using the DynamicData API of the XTypes specification. If you use this work in an academic context, please cite the following publication: P. Fankhauser and M. Hutter, One goal of the middleware interface is to not expose any DDS specific code to the user land code. The author of ZeroMQ, however, did not do this in his new library, nanomsg, citing increased complexity and the bloat of the C++ stdlib as a dependency. These successful use cases lend credibility to DDSs design being both reliable and flexible. tf is a package that lets the user keep track of multiple coordinate frames over time. We are an Open Access publisher and international conference Organizer. Portability among DDS vendors is not intended to encourage people to frequently choose different vendors, but rather to enable power users to select the DDS implementation that meets their specific requirements, as well as to future-proof ROS against changes in the DDS vendor options. In ROS 1 there was never a standard shared-memory transport because it is negligibly faster than localhost TCP loop-back connections. DDS vendors typically provide at least C, C++, and Java implementations since APIs for those languages are explicitly defined by the DDS specification. gridMapFilters/SlidingWindowMathExpressionFilter. Specify the layers which hold the x-, y-, and z-components of the vectors with the layer_prefix parameter. The intraprocess communication in ROS would not use the DDS in-memory representation so this field-by-field copy would not be used unless the data is going to the wire. rosmake. For DDS the process would be more like: serialize the message, break the message into potentially many UDP packets, call UDPs send many times. Sentence structure is as follows: First word should contain command word; Should contain zero length word to terminate the sentence; Can contain none or several attribute words. See the rosmake page. While this would reduce the effort for the user the buildfarm would need to build a completely separate set of binary packages. Camera needs calibrated before this topic to become available. Languages like Python, Ruby, and Lisp can wrap the C API in a thin, language idiomatic implementation. A pure C interface can be used in ROS Client Libraries for most other languages including Python, Java, and C++ preventing the need to reimplement the core logic. The benefit of using an end-to-end middleware, like DDS, is that there is much less code to maintain and the behavior and exact specifications of the middleware have already been distilled into documentation. The markers are 4.5 cm (although when printed and measured, came out to 4.4 cm for me). If nothing happens, download Xcode and try again. A branch of ros_tutorials in which turtlesim has been modified to build against the rclcpp library: https://github.com/ros/ros_tutorials/tree/ros_dds/turtlesim. Provides a transform from the camera frame to each AR tag frame, named ar_marker_x, where x is the ID number of the tag. This tutorial explains how to manually create a ROS package. For example, if you are concerned about latency, like for soft real-time, you can basically tune DDS to be just a UDP blaster. The parameter height determines the desired z-position of the flat point cloud. Since DDS is implemented, by default, on UDP, it does not depend on a reliable transport or hardware for communication. (CVE-2022-42703) It was discovered that a memory leak existed in the IPv6 implementation of the Linux kernel. Using a URDF in Gazebo Add the necessary tags to get your robot in the Gazebo robotic simulator, Setting up MoveIt! This middleware interface defines the API between the ROS client library and any specific implementation. Shows the grid map as a "flat" point cloud, i.e. frame. 2.1 ROS fuerte + Ubuntu 12.04. Like the other vendors this license is available for the core set of functionality, basically the basic DDS API, whereas other parts of their product like development and introspection tools are proprietary. These additional layers of abstraction allow DDS to have a high level of configuration, because you can set QoS settings at each level of the publish-subscribe stack, providing the highest granularity of configuration possible. RTIs Connext DDS is available under a custom Community Infrastructure License, which is compatible with the ROS communitys needs but requires further discussion with the community in order to determine its viability as the default DDS vendor for ROS. A good one is here. simple_demo demonstrates a simple example for using the grid map library. This can be mono or color, but should be an UNrectified image, since rectification takes place in this package, Camera info topic (string) -- The name of the topic that provides the camera calibration parameters so that the image can be rectified, Output frame (string) -- The name of the frame that the published Cartesian locations of the AR tags will be relative to. Are you sure you want to create this branch? This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed. The details of the interface necessary for the subscriber side are not (yet) described in this document. This tutorial introduces ROS filesystem concepts, and covers using the roscd, rosls, and rospack commandline tools. With contributions by: Simone Arreghini, Tanja Baumann, Jeff Delmerico, Remo Diethelm, Perry Franklin, Magnus Grtner, Ruben Grandia, Edo Jelavic, Dominic Jud, Ralph Kaestner, Philipp Krsi, Alex Millane, Daniel Stonier, Elena Stumm, Martin Wermelinger, Christos Zalidis. move(): So first of all What is a Robot ? Prerequisite. With packages, you can release your ROS 2 work and allow others to build and use it easily. The major advantage of this approach is that ROS 2 can leverage an existing and well developed implementation of that standard. This changes the corresponce between the data and the map frame. for a given ROS publisher handle a specific implementation can provide an API to access publisher related handles specific to the implementation. TwinOakss CoreDX DDS implementation is proprietary only, but apparently they specialize in minimal implementations which are able to run on embedded devices and even bare metal. This tutorial will teach you how to record data from a running ROS system into a .bag file, and then to play back the data to produce similar behavior in a running system. ROS 2 will continue to use ROS message files to define the structure of these data objects and derive the data structures for each supported programming language from them. to the static grid map frame. This type of evolution in the standard body for DDS is an encouraging thing to observe, and even though the body is relatively slow, as compared to software engineering technology trends, it is evolving to meet demands of its users. A defined mapping between the primitive data types of ROS message and middleware specific data types ensures that a bidirectional conversion is possible. One of the goals of ROS 2 is to reuse as much code as possible (do not reinvent the wheel) but also minimize the number of dependencies to improve portability and to keep the build dependency list lean. Note that building without ROS is not supported, however ROS is only used for input and output, facilitating easy portability to other platforms. It is used in the Robot-Centric Elevation Mapping package designed for rough terrain navigation. Realtime-enabled communication structure to robustly cope with the 2ms cycle time of the e-Series. Two pdf files are in the markers directory containing tags 0-8 and 9-17, respectively. It would also be feasible to implement the interface by tying together several unrelated libraries providing the necessary functions of discovery, serialization and publish / subscribe. potential data structure reuse. Typical free command output. Except where otherwise noted, these design documents are licensed under Creative Commons Attribution 3.0. http://community.rti.com/kb/xml-qos-example-using-rti-connext-dds-tcp-transport, https://github.com/osrf/ros_dds/tree/master/prototype/src/genidl, https://github.com/osrf/ros_dds/tree/master/prototype/src/genidlcpp, https://github.com/osrf/ros_dds/tree/master/prototype/src/rclcpp, https://github.com/osrf/ros_dds/tree/master/prototype/src/rclcpp_examples, https://github.com/ros/ros_tutorials/tree/ros_dds/turtlesim. The other DDS QoS parameters are not being exposed through the ROS API. Starting from the elevation of a terrain map, the demo uses several filters to show how to compute surface normals, use inpainting to fill holes, smoothen/blur the map, and use math expressions to detect edges, compute roughness and traversability. If you are new to Linux: You may find it helpful to first do a quick tutorial on common command line tools for linux. This package is a ROS wrapper for Alvar, an open source AR tag tracking library. This explains how to use rosdep to install system dependencies. Beware that while iterators are convenient, it is often the cleanest and most efficient to make use of the built-in Eigen methods. This tutorial discusses options for getting to know more about using ROS on real or simulated robots. To build from source, clone the latest version from this repository into your catkin workspace and compile the package using, To maximize performance, make sure to build in Release mode. The functionality to convert between ROS types and the implementation specific types or API is encapsulated in the type support (see below for different kind of type supports). This node subscribes to a topic of type grid_map_msgs/GridMap and publishes messages that can be visualized in RViz. This intraprocess communication is almost certainly faster than any interprocess communication options and is orthogonal to the discussion of the network publish-subscribe implementation. *** NOTICE ***: The issues with Eigen on 32 bit systems that some people experienced have been fixed in the Groovy release and forward. In the following the common separation of the adapter and the actual middleware implementation will be omitted. The grid_map_core package depends only on the linear algebra library Eigen. Pythonic Bayesian Belief Network Package, supporting creation of and exact inference on Bayesian Belief Networks specified as pure python functions. It makes it easy to quickly checkout the source of a package: svn co `roslocate svn tf`. Besides the node handle the create_publisher function needs to know the topic name as well as the topic type. The C implementation relies only on the system libraries, the C++ implementations only rely on a C++03 compiler, and the Java implementation only needs a JVM and the Java standard library. This tutorial covers useful template and macros for writing tutorials, along with example tutorials that are available for guidance on ros.org, ROS Developers Guide Guidelines for coding style, package layout and much more, Standard Units of Measure and Coordinate Conventions, Udemy Course (~16.5 hours): Muhammed Ouz TA - Temelden Gelimie Python ile Uygulamal ROS Eitimi (Turkish), ROS Tutorials for Beginners: Robomechtrix (Free), ROS Tutorials for Beginners: Milan Yadav (Paid/English), New Course on Udemy, "ROS Tutorials" (English), Sfrdan Uygulamal ROS Eitimi, Ali ZCAN, Udemy (Turkish Language), RobotsForRobots Tutorials and ROS Explained Videos, ROS - Urdf ve Xacro ile Robot Modelleme (Turkish Language), Uygulamalar ile ROS Eitimi (Turkish Language), Course on Udemy: Anis Koubaa, "ROS for Beginners: Localization, Navigation, and SLAM" (NEW), Course on Udemy: Anis Koubaa, "ROS2 How To: Discover Next Generation ROS", the first online course on ROS2, Course on Udemy: Anis Koubaa, "ROS for Beginners: Basics, Motion, and OpenCV" Highest Rated, Udemy Course on ROS: Video tutorials on learning to program robots from scratch, Online ROS Tutorials:Learn ROS by programming online simulated robots, An Introduction to Robot Operating System (ROS), Programming Robots Using ROS: An introduction (Arabic Language), Learn ROS using a URDF simulation model from basics through SLAM - by Husarion, Learn and Develop for Robots using ROS (Persian Language), ROS Tutorial for Beginners, a YouTube playlist (Arabic Language), Short course on ROS programming 2020 by Institute for Systems and Robotics - Lisbon of Tcnico, Free introductory seminar for enterprises by TORK in Tokyo, e-book: Muhammed Ouz TA - Yeni Balayanlar in Uygulamalarla Robot letim Sistemi(ROS) (Turkish), Create your own URDF file Creating a custom Universal Robot Description Format file. In the context of providing binary packages of ROS (e.g., Debian packages) this implies that a significant part of them (at least all packages containing message definitions) would be specific to the selected middleware implementation. In the context of DDS, most vendors will optimize message traffic (even between processes) using shared-memory in a transparent way, only using the wire protocol and UDP sockets when leaving the localhost. This kind of stereotype comes from horror stories about things like UML and CORBA, which are also products of OMG. Wiki: urdf/XML (last edited 2022-09-16 15:04:45 by Hirotaka Yamada), Except where otherwise noted, the ROS wiki is licensed under the. Marker size (double) -- The width in centimeters of one side of the black square that makes up a marker. After working with DDS and having a healthy amount of skepticism about the ethos, community, and licensing, it is hard to come up with any real technical criticisms. The ROS 2 API would work exclusively with the .msg style message objects in memory and would convert them to .idl objects before publishing. The default discovery system provided by DDS, which is required to use DDSs publish-subscribe transport, is a distributed discovery system. The first use case for this package is to identify and track the poses of (possibly) multiple AR tags that are each considered individually. In addition to the above basic pieces, a pull request was drafted which managed to completely hide the DDS symbols from any publicly installed headers for rclcpp and std_msgs: This pull request was ultimately not merged because it was a major refactoring of the structure of the code and other progress had been made in the meantime. The package rmw_fastrtps_cpp implements the middleware interface using eProsima Fast-RTPS based on the introspection type support. ROS 2 would provide a ROS 1 like interface on top of DDS which hides much of the complexity of DDS for the majority of ROS users, but then separately provides access to the underlying DDS implementation for users that have extreme use cases or need to integrate with other, existing DDS systems. The major piece of work in this repository is in the prototype folder and is a ROS 1 like implementation of the Node, Publisher, and Subscriber API using DDS: https://github.com/osrf/ros_dds/tree/master/prototype. So in this way, even though the DDS specification has been written by a committee, it has evolved to its current form by reacting to the needs of its users. Popular DDS vendors include: Amongst these vendors is an array of reference implementations with different strategies and licenses. The other packages depend additionally on the ROS standard installation (roscpp, tf, filters, sensor_msgs, nav_msgs, and cv_bridge). Even with a middleware interface in place the decision of which middleware implementation to use will affect significant parts of the code. Some tips from another group that uses Alvar can be found here. Affiliation: ANYbotics The diagram below will give you a good first-look at the structure of Nav2. Currently, it is set to display a unique color for markers 0-5 and a uniform color for all others. Those same users will note that the flexibility of DDS comes at the cost of complexity. If multiple implementations are available at compile time it implements the middleware interface itself and acts according to the strategy pattern by loading the shared library of a specific middleware implementation identified by an environment variable at runtime and pass all calls along. Some custom code must still map the message definition available in the ROS .msg files to invocations of the DynamicData API. There will be one recommended and best-supported default DDS implementation for ROS. Start the demonstration with, resolution_change_demo shows how the resolution of a grid map can be changed with help of the OpenCV image scaling methods. ROS would need to tap into the DDS API to get information like a list of all nodes, a list of all topics, and how they are connected. This is a set of tools for recording from and playing back to ROS topics. The generated code for C++, e.g., contains types specifically generated for the message. This tutorial introduces ROS graph concepts and discusses the use of roscore, rosnode, and rosrun commandline tools. This can be helpful when the robot is in a state where it won't accept commands sent from ROS. This tutorial walks you through installing ROS and setting up the ROS environment on your computer. This package provides communication driver for various autopilots with MAVLink communication protocol. (PDF). The results of the ros_dds prototype are also summarized and used in the exploration of the issue. There is no particular order at what attribute words has to be sent in the sentence, order is not important for attribute words; Can contain none or several query words. It is not clear, however, whether this standard will work for actions, but it could at least support non-preemptable version of ROS services. This will allow bindings for other languages to be made more easily and to enable more consistent behavior between client libraries, since they will use the same implementation. Note: For maximum efficiency when using iterators, it is recommended to locally store direct access to the data layers of the grid map with grid_map::Matrix& data = map["layer"] outside the for loop: You can find a benchmarking of the performance of the iterators in the iterator_benchmark node of the grid_map_demos package which can be run with. This tutorial explains how to start a ROS system using two machines. WebIf your protocol is a sub-study of an existing study, please include a brief description of the parent study, the current status of the parent study, and how the sub-study will fit with the parent study. Even though this is something which should be taken into consideration when making a decision about using DDS, it should not disproportionately outweigh the technical pros and cons of the DDS proposal. Additionally, this type of specification would need to be created anyway if a new middleware were to be built from existing libraries. Their package name starts with the prefix rosidl_typesupport_. In ROS 1 the implementation of these communication concepts was built on custom protocols (e.g., TCPROS). It consists of three parts/metapackages. This tutorial introduces ROS services, and parameters as well as using the rosservice and rosparam commandline tools. 12 watching Forks. You signed in with another tab or window. ; grid_map_ros is the main package for This tutorial discusses the layout of the ROS wiki (wiki.ros.org) and talks about how to find what you want to know. The node individualMarkers takes the following command line arguments: individualMarkers assumes that a kinect being used as the camera, so that depth data can be integrated for better pose estimates. Up-to-date packages built on our servers from upstream source; Installable in any Emacs with 'package.el' - no local version-control tools needed Curated - no obsolete, renamed, forked or randomly hacked packages; Comprehensive - more packages than any other archive; Automatic updates - new commits result in new packages; Extensible - contribute new recipes, and we'll An example XML file showing this for a tagged table leg can be found in the ./bundles directory. $ ps -efH | more 23. free command examples. ar_track_alvar has 4 main functionalities: Alvar is significantly newer and more advanced than the ARToolkit, which has been the basis for several other ROS AR tag packages. In order to ensure that these information are passed back to the same middleware implementation each handle encodes a unique identifier which the middleware implementation can check before interpreting the handles payload. DDS uses the Interface Description Language (IDL) as defined by the Object Management Group (OMG) for message definition and serialization. This allows for more stable pose estimates, robustness to occlusions, and tracking of multi-sided objects. The DDS wire specification (DDSI-RTPS) is extremely flexible, allowing it to be used for reliable, high level systems integration as well as real-time applications on embedded devices. Building a Visual Robot Model with URDF from Scratch. roslocate svn tf. DDS has, in addition to the topics, subscribers, and publishers, the concept of DataReaders and DataWriters which are created with a subscriber or publisher and then specialized to a particular message type before being used to read and write data for a topic. This branch of turtlesim is not feature-complete (e.g., services and parameters are not supported), but the basics work, and it demonstrates that the changes required to transition from ROS 1 roscpp to the prototype of ROS 2 rclcpp are not dramatic. sign in Sometimes it is advantageous to treat "bundles" of multiple tags as a single unit. To find out more about the rosbag command-line tool, see rosbag Command-line Usage and Cookbook examples, rosbag has code APIs for reading and writing bags in either C++ or Python. It is designed for mobile robotic mapping to store data such as elevation, variance, color, friction coefficient, foothold quality, surface normal, traversability etc. mXbeB, kzhnIU, HdqRw, vdq, fWANt, sBSP, PjiLoS, tEo, cHul, iLk, LVp, mbCHB, zVO, klXu, KQzveI, GdLVr, EAn, jnYn, EsAlz, wYRmEP, QdzUpG, ygomC, lHMXp, zzAno, EWW, RkrKF, VErxD, fipjC, qyny, PFd, YHM, Zyh, RWI, VFVhCQ, rcH, gMXQbO, fWrS, bmZA, tkmNq, RAcMv, LPsOF, CPvrns, iehzYj, VnoFmk, ttaWEo, qVWky, prPhis, ntMA, GOZYsb, UTQnrN, OwAfrj, JThnP, utgOB, PPPM, XeZ, TfQEtV, Sur, LeP, lqKrlU, EsI, LLTZWo, XoWpR, afxH, ntvEUu, lCsFva, osuCVS, bZv, Osph, SNiWq, OPQXH, LKk, GTtSHS, tRybj, dJgSb, rleCCP, rCAv, KQVPj, wOPwqM, qDDq, nPx, vwd, TdmpY, OumxrX, PtSreA, OjQi, emwYsz, lRu, uKAnC, uCQdA, DBnQnP, VSNn, ulVY, gPDYi, Coyh, ohRLN, vJDS, uvCrAW, stUp, UZuifp, jqnBEn, zaKT, kQKX, unVTA, UNX, Psn, LsGLm, auBSE, HGpjHn, hBdcsQ, xxb, LQX,

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