For example, if you use the prefix "foo" and the parameters "foo.ping" and "foo.pong" exist, then the returned map will have the keys "ping" and "pong". That way you wouldn't even have to write a parameter callback to accomplish this. Use get_effective_namespace() to get the full namespace used by entities. In this case, how do you provide feedback that the parameter has been adjusted (e.g. Run the simplest ros2 (C++) program (and fail) Inspecting the simplest ROS (C++) program Distributed Logging with rosconsole Play Around Conclusion Installing ROS2 (if it hasn't already been installed) For Ubuntu Linux, you can follow these instructions, and for other platforms, see the main ros2 installation instructions. If the parameter has not been declared, then this method may throw the rclcpp::exceptions::ParameterNotDeclaredException exception. By default, when an instance of this class is created using one of the public constructors, it has no sub-namespace associated with it, and therefore is not a sub-node. Assuming argument is name of URDF file.This backwards compatibility fallback will be removed in the future. For example, all of these cases will work: The publisher options may optionally be passed as the third argument for any of the above cases. The names which are used as keys in the values map have the prefix removed. What I would consider doing here is the following: I think the above should give you the behavior you want. Sign up for a free GitHub account to open an issue and contact its maintainers and the community. Right, thanks for the feedback. get_value () [2/2] template<typename T > decltype (auto) rclcpp::Parameter::get_value ( ) const inline Get value of parameter using c++ types as template argument. will be placed before each key, which would have been the case when naively expanding "namespace.key". Let me know if you need any help with it, and I can provide a few more pointers. Returns current time from the time source specified by clock_type. The message memory strategy to use for allocating messages. @clalancette i updated my feature description. The name expansion is naive, so if you set the namespace to be "foo. the topic_name on which to find the subscriptions. This version will take a map where the value is a pair, with the default parameter value as the first item and a parameter descriptor as the second. rcl_interfaces::msg::ListParametersResult rclcpp::Node::list_parameters. I can declare and get parameters from YAML for 'ros_st' and 'ros_i' easily by: this->declare_parameter("ros_st", "Hello"); this->declare_parameter("ros_i", 0); this->get_parameter("ros_st", _st); this->get_parameter("ros_i", _n); But, I have no idea how to declare 'ros_vec' and get the parameters. but what if i accidently set the parameter to be 101.0, using the current on_set_parameter_callback() behavior, then i could only reject it. See the non-templated declare_parameter() on this class for details. Sign in rclcpp::node_interfaces::OnSetParametersCallbackHandle, rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType, rclcpp::Node::OnParametersSetCallbackType, rclcpp::Node::OnSetParametersCallbackHandle, rclcpp::exceptions::InvalidParameterValueException, rclcpp::exceptions::ParameterAlreadyDeclaredException, rclcpp::exceptions::InvalidParametersException, rclcpp::exceptions::InvalidParameterTypeException, https://en.cppreference.com/w/cpp/language/lifetime, https://herbsutter.com/2008/01/01/gotw-88-a-candidate-for-the-most-important-const/, https://www.youtube.com/watch?v=uQyT-5iWUow, rclcpp::exceptions::ParameterNotDeclaredException, rclcpp::exceptions::ParameterImmutableException, rclcpp::NodeOptions::allow_undeclared_parameters, rclcpp::exceptions::ParameterModifiedInCallbackException, rclcpp::node_interfaces::NodeClock::get_clock, template, typename PublisherT = rclcpp::Publisher>, template, typename CallbackMessageT = typename rclcpp::subscription_traits::has_message_type::type, typename SubscriptionT = rclcpp::Subscription, typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy< CallbackMessageT, AllocatorT >>, template, rcl_interfaces::msg::ListParametersResult, Wait for a graph event to occur by waiting on an, rclcpp::node_interfaces::NodeBaseInterface::SharedPtr, rclcpp::node_interfaces::NodeClockInterface::SharedPtr, rclcpp::node_interfaces::NodeGraphInterface::SharedPtr, rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr, rclcpp::node_interfaces::NodeTimersInterface::SharedPtr, rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr, rclcpp::node_interfaces::NodeServicesInterface::SharedPtr, rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr, rclcpp::node_interfaces::NodeParametersInterface::SharedPtr, rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr. Set Parameters. Get value of parameter using rclcpp::ParameterType as template argument. And why would someone want to modify the parameters during on set parameter callback? you tried setting the frame rate to 40fps, but the driver knocked it back down to 33.7fps)? If the parameter has not been declared this function may throw the rclcpp::exceptions::ParameterNotDeclaredException exception, but only if the node was not created with the rclcpp::NodeOptions::allow_undeclared_parameters set to true. RvizQt, 11, gazebo Return the Node's internal NodeBaseInterface implementation. rclcpp provides the standard C++ API for interacting with ROS 2. For each key in the map, a parameter with a name of "namespace.key" will be set to the value in the map. There's get_parameters() one line above which takes a vector of names and returns a vector of ParameterVariants. Create a new node with the specified name. Using a validator before updating the parameters is all nice and well if validation can be done beforehand. As for setting the range between 0 and 100.0; to me, it seems non-sensical to set a range, and then to ignore that range and clamp it. But after that, any change to any parameter won't be taken into account. If the callback prevents the parameters from being set, then it will be reflected in the SetParametersResult which is returned, but no exception will be thrown. Modify Parameters On Set Parameter Callback. If the exception is thrown then none of the parameters will have been set. There is another overload which takes the std::pair with the default value and descriptor. Neither is hacking it the way I currently do by starting a timer inside the parameter callback handler to defer the modification of the parameter: So I would say that this case is probably beyond the scope of what a set_parameter_callback() can do (at least, in the current design). There are two different things here: My suggestion for now is to implement the first one. Get a clock as a const shared pointer which is managed by the node. An initial value to be used if at run-time user did not override it. Set the given parameters, one at a time, and then return result of each set action. rclcpp::Event::SharedPtr rclcpp::Node::get_graph_event, rclcpp::Clock::SharedPtr rclcpp::Node::get_clock, rclcpp::Clock::ConstSharedPtr rclcpp::Node::get_clock, rclcpp::node_interfaces::NodeBaseInterface::SharedPtr rclcpp::Node::get_node_base_interface, rclcpp::node_interfaces::NodeClockInterface::SharedPtr rclcpp::Node::get_node_clock_interface, rclcpp::node_interfaces::NodeGraphInterface::SharedPtr rclcpp::Node::get_node_graph_interface, rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr rclcpp::Node::get_node_logging_interface, rclcpp::node_interfaces::NodeTimersInterface::SharedPtr rclcpp::Node::get_node_timers_interface, rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr rclcpp::Node::get_node_topics_interface, rclcpp::node_interfaces::NodeServicesInterface::SharedPtr rclcpp::Node::get_node_services_interface, rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr rclcpp::Node::get_node_waitables_interface, rclcpp::node_interfaces::NodeParametersInterface::SharedPtr rclcpp::Node::get_node_parameters_interface, rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr rclcpp::Node::get_node_time_source_interface, rclcpp::Node::SharedPtr rclcpp::Node::create_sub_node. Return the sub-namespace, if this is a sub-node, otherwise an empty string. If a callback tries to do any of the latter things, rclcpp::exceptions::ParameterModifiedInCallbackException will be thrown. The sub-namespace should be relative, and an exception will be thrown if the sub-namespace is absolute, i.e. Add a new callback type for rclcpp::Node::add_on_set_parameter_callback() with the type of rcl_interfaces::msg::SetParametersResult callback(std::vector ¶meters). Return the Node's internal NodeTopicsInterface implementation. Get the value of a parameter by the given name, and return true if it was set. Part of that is an explicit declare step for parameters, which will make "exists" make more sense. Like set_parameter() this method will implicitly undeclare parameters with the type rclcpp::PARAMETER_NOT_SET. Set one or more parameters, one at a time. If no parameters with the prefix are found, then the output parameter "values" will be unchanged and false will be returned. Like get_parameters(), this method may throw the rclcpp::exceptions::ParameterNotDeclaredException exception if the requested parameter has not been declared and undeclared parameters are not allowed. I am also working on some improvements right now so that you can have read-only parameters. Considered the following scenario, i have a parameter that should only accept the double value of 0.0 to 100.0. if i set the parameter with double value between 0.0 to 100.0, then it would be fine. This method will result in any callback registered with add_on_set_parameters_callback to be called, once for each parameter. Value to be stored in output if the parameter was not set. Here is a simple way to declare and get a vector of integers in Galactic: This shows how to declare the parameter. It worked, but kinda be a tricky solution and a bad habit as the parameters was implicitly stated to be constant. if the requested type does not match the value of the parameter which is stored. remove_on_set_parameters_callback can't be used with the callbacks registered with this method. The returned reference will remain valid until the parameter is undeclared. When a callback returns a not successful result, the remaining callbacks aren't called. rclcpp parameter callback Going further with ROS2 params Setup code and declare ROS2 params with rclcpp Before you use a ROS2 param in your Cpp code, you must declare it. The "prefix" argument is used to list the parameters which are prefixed with that prefix, see also list_parameters(). Return the Node's internal NodeClockInterface implementation. The node from which a new sub-node is created. In ROS2, there doesn't seem to be a way to check if a parameter exists directly without attempting to get the value of the parameter. I don't think anyone is currently working on this, so help here would be appreciated. The callback may introspect other already set parameters (by calling any of the {get,list,describe}_parameter() methods), but may not modify other parameters (by calling any of the {set,declare}_parameter() methods) or modify the registered callback itself (by calling the add_on_set_parameters_callback() method). This method will not cause a callback registered with add_on_set_parameters_callback to be called. @clalancette thanks, works for me! const rcl_interfaces::msg::ParameterDescriptor &. rclcpp::Node::add_on_set_parameter_callback(), https://github.com/ros/robot_state_publisher/blob/b6fbbd0a821c14d6ea34f83bcab93c77358caeef/src/robot_state_publisher.cpp#L159-L161. tf::createQuaternionFromYaw equivalent in ros2, Define custom messages in python package (ROS2), Check if ROS2 Parameters Exist with RCLCPP, there doesn't seem to be a way to check if a parameter exists, Creative Commons Attribution Share Alike 3.0. The registered callbacks are called when a parameter is set. tf::createQuaternionFromYaw equivalent in ros2, Define custom messages in python package (ROS2). the topic_name on which to find the publishers. remove_on_set_parameters_callback(scoped_callback.get()). Return the Node's internal NodeTimeSourceInterface implementation. void rclcpp::Node::remove_on_set_parameters_callback. Set the given parameters, all at one time, and then aggregate result. This method, if successful, will result in any callback registered with add_on_set_parameters_callback to be called. To the ROS2 Related Top Page ROS2 Lecture: Beginner -ROS1 style- [Previous: ROS2 publisher/subscriber using original messages: Beginner -ROS1 style-] [Next:Minimum configuration parameter:ROS2 -ROS1 style-] Here, we create a service and client program. This namespace is the "node's" namespace, and therefore is not affected by any sub-namespace's that may affect entities created with this instance. When the no_mangle parameter is true, the provided topic_name should be a valid topic name for the middleware (useful when combining ROS with native middleware (e.g. Wouldn't it be better if i could accept it in condition that the parameter type to be casted to double value?. If you don't do that, you won't be able to access it and you'll get an error instead (rclcpp::exceptions::ParameterNotDeclaredException). so basically, there's no way that allows a node to modify the parameters that will be set during the on_set_parameter_callback. Which return vector<T>. Node is the single point of entry for creating publishers and subscribers. This method will result in any callback registered with add_on_set_parameters_callback to be called. Also like get_parameters(), if undeclared parameters are allowed and the parameter has not been declared, then the corresponding rclcpp::Parameter will be default initialized and therefore have the type rclcpp::ParameterType::PARAMETER_NOT_SET. This may be done by using this method, create_sub_node(). The names of the parameters to be retrieved. The messages exchanged are used using the original messages created earlier.. The parameters to set in the given namespace. It is a somewhat clunky approach, but at the moment I don't have much better idea. With parameters you can already change the configuration of the node at runtime. To avoid this, use the declare_parameter() method which returns an rclcpp::ParameterValue instead. The callbacks added with add_on_set_parameters_callback are stored in a different place. Return the Node's internal NodeTimersInterface implementation. Create a sub-node, which will extend the namespace of all entities created with it. How can I build deb packages from ROS2 Bouncy Bolson packages? Even a std::clamp inside the on_set_parameter_callback won't work as the parameter itself is immutable. It should be possible to register it before or after the parameters are declared. Declare and initialize a parameter with a type. B) If not, why not? A) Is there a way to check if a parameter exists that I'm missing Maybe I can add an "exists" or "has" or "is_declared" like function at the same time. None of these commands work: This allows you to declare several parameters at once without a namespace. if any parameter has not been declared and undeclared parameters are not allowed. I'm sorry, I haven't reached this thread for a while. GitHub What is set_on_parameters_set_callback doing? The returned namespace is a concatenation of the node namespace and the accumulated sub-namespaces, which is used as the namespace when creating entities which have relative names. wouldn't it be better if i could accept it in condition that the parameter value is clamped to 100.0? Ah, I see where the disconnect is now. rclcpp This repository contains the source code for the ROS Client Library for C++ package, included with a standard install of any ROS 2 distro. topic_name may be a relative, private, or fully qualified topic name. Return the topic endpoint information about publishers on a given topic. Use an set_parameter_callback () to validate that the parameter is within any reasonable bounds. Depending on your use case each different one has tradeoffs. In the case for the camera FPS, if the hardware only supports up to 100 Hz, but the parameter input was 1000 Hz (or negative), reject it at this stage. The ParameterVarient includes ARRAY types natively, The get_value method on the variant will return the vector value. Delete a handler returned by add_on_set_parameters_callback. [rclcpp] How do you specify Subscriber queue_size? Return the NodeOptions used when creating this node. Incorrect Security Information - Docker GUI, How to get an array of parameters with rclcpp, get_parameter returning an ParameterVariant, Creative Commons Attribution Share Alike 3.0. Yes that's exactly what i means, as described by @clalancette. Furthermore, a sub-node may be used to create additional sub-node's, in which case the sub-namespace passed to this function will further extend the sub-namespace of the existing sub-node. if any of the parameters have not been declared and undeclared parameters are not allowed. Return a list of parameters with any of the given prefixes, up to the given depth. That is, my parameterCallback() looks something like: But I think what you are trying to do is something more like: @threeal Can you confirm that this is the use case you are trying to support? Like get_parameters(), this method may throw the rclcpp::exceptions::ParameterNotDeclaredException exception if any of the requested parameters have not been declared and undeclared parameters are not allowed. For instance the frame rate of a camera depends on the exposure time, the model-dependent camera dead time, the link bandwidth, etc etc. Note that entities which use absolute names are not affected by any namespaces, neither the normal node namespace nor any sub-namespace. The map contains default values for parameters. Behaves like set_parameter, except that it sets multiple parameters, failing all if just one of the parameters are unsuccessfully set. If the names vector is empty, then an empty vector will be returned. Well occasionally send you account related emails. The callback may introspect other already set parameters (by calling any of the {get,list,describe}_parameter() methods), but may not modify other parameters (by calling any of the {set,declare}_parameter() methods) or modify the registered callback itself (by calling the add_on_set_parameters_callback() method). When the no_mangle parameter is false, the provided topic_name should follow ROS topic name conventions. as_bool () bool rclcpp::Parameter::as_bool ( ) const as_int () int64_t rclcpp::Parameter::as_int ( ) const There was some work done on lists in parameters this cycle, but I don't know the state off-hand, let me look it up. If the type of the default value, and therefore also the type of return value, differs from the initial value provided in the node options, then a rclcpp::exceptions::InvalidParameterTypeException may be thrown. Parameters Exceptions InvalidNamespaceError if the namespace is invalid Node () [2/3] It looks like the documentation is not complete. You just use a std::clamp as you set the value in the callback. The default values are 0.01 seconds for all three parameters. Note, this method cannot return a const reference, because extending the lifetime of a temporary only works recursively with member initializers, and cannot be extended to members of a class returned. Get a clock as a non-const shared pointer which is managed by the node. It consists of these main components: Node rclcpp::Node rclcpp/node.hpp Publisher rclcpp::Node::create_publisher () rclcpp::Publisher rclcpp::Publisher::publish () rclcpp/publisher.hpp Subscription rclcpp::Node::create_subscription () If the parameter was not set, then the "parameter" argument is assigned the "alternative_value". The output where the value of the parameter should be assigned. Return the Node's internal NodeGraphInterface implementation. declare_parameter("foo", 15.0); Return the Node's internal NodeParametersInterface implementation. Please start posting anonymously - your entry will be published after you log in or create a new account. Return the number of publishers that are advertised on a given topic. But if you need to use get_parameter, it looks like that isn't possible right now. But I'm running into cases where a driver will adjust parameters that have been set, based on rules that are either too complex to reasonably encode, or are not documented at all. However, if the namespace is an empty string, then no leading '.' Like the version of get_parameter() which returns a bool, this method will not throw the rclcpp::exceptions::ParameterNotDeclaredException exception. Multiple parameter callbacks are not possible now. Return the parameters by the given parameter names. And you can use get_parameter (s) to get the rclcpp::Parameter for it, and on that class there are as_*_array () methods: https://github.com/ros2/rclcpp/blob/a. declare_parameter also gets the parameter. To get that you need to call the get_effective_namespace() method. Support pre-set and post-set parameter callbacks in addition to on-set-parameter-callback. Wait for a graph event to occur by waiting on an Event to become set. Return true if a given parameter is declared. i have a parameter that should only accept the double value of 0.0 to 100.0, but what if i accidently set the parameter to be 101.0. i guess that is the setter's responsibility, since setter sets the parameter which is out of range? link Comments Is there a way to achieve this by just using this->declare_parameter<float> ("foo", 15.0); this->get_parameter ("foo", foo); syntax? The callback signature is designed to allow handling of any of the above set_parameter* or declare_parameter* methods, and so it takes a const reference to a vector of parameters to be set, and returns an instance of rcl_interfaces::msg::SetParametersResult to indicate whether or not the parameter should be set or not, and if not why. Return a vector of parameter types, one for each of the given names. For removing it, use set_on_parameters_set_callback(nullptr). Const casting the parameter is obviously not a permanent solution. And lastly if you just use the return code you can integrate the fallback behavior inside your accessing logic. Calling remove_on_set_parameters_callback more than once with the same handler, or calling it after the shared pointer has been reset is an error. That means that we'd have to change the signature of the parameter callbacks again. Resetting or letting the smart pointer go out of scope unregisters the callback. If the parameter was not declared, then the output argument for this method which is called "parameter" will not be assigned a value. If you don't end up rolling it into that PR, please ping me and I'll try to make one. Return a map of existing service names to list of service types. typename MessageMemoryStrategyT::SharedPtr, The user-defined callback function to receive a message, Additional options for the creation of the. Here's the pull request: https://github.com/ros2/rclcpp/pull/495 , it was originally started by Shane, but I'm trying to resurrect it right now. The rclcpp::QoS has several convenient constructors, including a conversion constructor for size_t, which mimics older API's that allows just a string and size_t to create a publisher. How ROS 2 params work ROS 2 nodes first declare the parameters they can accept (1), then read the parameter values passed to them during startup - via the command line interface (2) or a YAML configuration file (3) - to determine their behavior. If you pass multiple rclcpp::Parameter instances with the same name, then only the last one in the vector (forward iteration) will be set. No robot_description parameter, but command-line argument available. The next bit depends on how the hardware behaves. Support for pre-set and post-set parameter callback. You can see that the SetParametersResult is a boolean flag for success and an optional reason that can be used in error reporting when it fails. const char* rclcpp::Node::get_fully_qualified_name, rclcpp::CallbackGroup::SharedPtr rclcpp::Node::create_callback_group. privacy statement. With these values, about (0.033s - 0.025s) / 0.010s = 80% of the ping messages on the low prio path should be processed and . I found below code to work, not sure if this is the recommended way, but it works. Parameters can be integers, floating point numbers, booleans, string, or arrays of the previous types. If, at run-time, the user has provided an initial value then it will be set in this method, otherwise the given default_value will be set. The fully-qualified name includes the local namespace and name of the node. For the slightly different case than what @tfoote linked to, here's how to get a single parameter as an array of values. The name and type in the given rcl_interfaces::msg::ParameterDescriptor are ignored, and should be specified using the name argument to this function and the default value's type instead. check my note, basically we could use rclcpp::Node::add_on_set_parameter_callback() to create a validator, and the hack is constant casting the parameter, and modify the value there. In this case, how do you provide feedback that the parameter has been adjusted (e.g. [ROS2] What's the best way to wait for a new message? when i accept it, the parameter would simply changed from double to integer, and it would be considered bad. read_only will be false. Can you explain more? This method will result in any callback registered with add_on_set_parameters_callback to be called, just one time. Get the parameter value, or the "alternative_value" if not set, and assign it to "parameter". Like set_parameter and set_parameters, this method may throw an rclcpp::exceptions::ParameterNotDeclaredException exception if any of the parameters to be set have not first been declared. This method will never throw the rclcpp::exceptions::ParameterNotDeclaredException exception, but will instead return false if the parameter has not be previously declared. Anyway, more information here on what you are trying to do (including a code example) would be most helpful. rcl_interfaces::msg::SetParametersResult result; Encapsulation of Quality of Service settings. if the parameter has not been declared and undeclared parameters are not allowed. The list of parameter names to get the types. If a callback tries to do any of the latter things, rclcpp::exceptions::ParameterModifiedInCallbackException will be thrown. If undeclared parameters are allowed, see the node option rclcpp::NodeOptions::allow_undeclared_parameters, then this method will not throw an exception, and instead return a default initialized rclcpp::Parameter, which has a type of rclcpp::ParameterType::PARAMETER_NOT_SET. Have a question about this project? Or in this example how come that the parameter doesn't need to be declared? starts with a leading '/'. Return a map of existing topic names to list of topic types. Also, besides for declaring the parameter, you're saying that it also tries to get the parameter, and if it can't find it, it will default it to std::vector({1, 2, 3})? arguentsurdfrobot_description, urdfjoint_state_publisher_gui, rvizurdf.rvizrvizrviz, TFRobotModelrvizlaunchrviz, ate_publisher_node) ld.add_action(rviz2_node) return ld, 1.1:1 2.VIPC, Tetris.h Tetris.cpp Block.h Block.cpp Map.h Map.cppcppkey.cpp, , Set the given parameter and then return result of the set action. remove_on_set_parameters_callback can also be used. ", then the resulting parameter names will be like "foo..key". As an alternative, the smart pointer can be reset: Supposing that scoped_callback was the only owner. I would add clipping what makes sure the parameter will be set in the rage of 0.0 to 100.0 in the setter. See the simpler declare_parameters() on this class for more details. If ignore_override is true, the parameter override will be ignored. In either case, the resulting value is returned, whether or not it is based on the default value or the user provided initial value. The documentation shows get_parameter returning an ParameterVariant but ParameterVariant doesn't seem to have an as_vector option. If the parameter has not been declared, it will not attempt to coerce the value into the requested type, as it is known that the type is not set. The name of the parameter to be undeclared. 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