to use the ROS 2 navigation capabilities to move the robot autonomously. 1226 rosrun tf tf_echo /world /turtle1 This workshop encourages you to refer to the cheat sheet for the syntax and type the commands on your own in order to learn by trial and error. Invoke all the other services as well using CLI and/or RQT. 1297 catkin_make 1255 roscd ros_tutorials/nodes/ Once you call the service correctly, move the turtle with teleop to observe the change in trail color. The turtlesim node gets its velocity commands from the /turtle1/cmd_vel topic. [F1tenth 2021] Lab Session 1Learning ROS with TurtlesimThe handout accompanying the tutorial is available here: https://linklab-uva.github.io/autonomousracin. To determine which COM ports you require, right click on the Windows Start Menu, Select Device Manager. Refer to the cheat sheet for the CLI syntax for the list/info/show/echo commands. 1296 roslaunch ros_tutorials tsim_tf_demo.launch This repository serves as a basic stepping stone for roboticists who want to investigate fundamentals of ROS2 programming with Turtlesim. It demonstrates in simple but effective ways the basic concepts. 1279 sudo gedit tsim_tf_demo.launch (Hint: Service types DO NOT have in their names, and have their names in/hierarchical/format). A description of these xml attributes is found in the rqt tutorial.. The topic /turtle1/color_sensor tells you the RGB values of the color of the trail left behind when the turtle moves. . 2.4k 477 examples Public Example packages for ROS2 C++ 421 233 ros2_documentation Public In this step you will practice interacting with the topics, services, actions and parameters provided by the turtlesim. Perform all of the above introspection activities using RQT wherever applicable. You might notice some extra topics with the word action in the name when you use RQT Node Graph, which you do not see when you list the topics in CLI. 1283 catkin_make 1315 rostopic list You can ignore the services with the word parameter in the names for now. 1266 cd src The turtle will automatically move to coordinate {x: 6.0, y: 1.0}. Install Docker. sudo apt install ros-foxy-turtlebot3* B. Try to get information about each of them as well as the associated types (msg and srv). Back in your keyboard teleop terminal, give some velocity commands to make the turtle move. The solution is provided in the end. You signed in with another tab or window. Feel free to approach this any way as you wish. You can echo /turtle1/color_sensor to verify if this is the same RGB value that you set. 1293 catkin_make Make use of the --help option for commands as well. Modify the ROS Launch files to map the devices to the correct COM port. Echo this topic to see how the pose of the turtle changes as you move it. 1284 roslaunch ros_tutorials tsim_tf_demo.launch Lines beginning with # indicates the syntax of these commands. 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. 1245 chmod +x turtle_tf_broadcaster.py 1286 roslaunch ros_tutorials tsim_tf_demo.launch 864 subscribers In this video we will learn about ROS2 Action, Action Server and Action Client using turtlesim package. 1299 rosrun ros_tutorials turtle_tf_broadcaster.py It demonstrates in simple but effective ways the basic concepts. 1236 source ./devel/setup.bash Make sure to source ROS 2 and run these nodes in two separate terminals. 1289 catkin_make Install the turtlesim package for your ROS 2 distro: Linux. Using the --feedback option with the command prints the feedback to the console. 1219 catkin_make 1220 cd jh 1221 cd src/turtlebot_hardware/src 1222 rosrun turtlebot_hardware simulated_odom.py 1223 roscore 1224 rostopic list 1225 rostopic echo /tf 1226 rosrun tf tf_echo /world /turtle1 1227 cd jh/src 1228 ls 1229 rosrun tf tf_monitor 1230 cd .. 1231 catkin_make 1232 cd src 1233 catkin_create_pkg ros_tutorials . Exercise 1.1 - ROS-2-Simple-Publisher-Subscriber, 6. If you click "Browse Code" on the right panel, it should lead you to the directory corresponding to the package on the right branch in the repo. Integrating ROS2 with Eclipse zenoh. Make use of the --help option for commands as well. 1321 cd src/ros_tutorials/src While turtlesim continues to run, launch a keyboard controller for it with the following command: ros2 run turtlesim turtle_teleop_key Now the node list contains both /teleop_turtle and /turtlesim. rgt_gragh , 2 Node . You could instead give a -r 0.5 option to make it publish at 0.5 Hz. Replay this ros2bag file, and you will notice the turtle moving in the same way as you recorded. Copyright 2021, Fraunhofer IPA. Change background color of the same by setting a parameter. Refer to the cheat sheet to select the right plugin. Under the Ports (COM & LPT) node: USB Serial Device (COMx) is the OpenCR board. Commands are executed in a terminal: Open a new terminal use the shortcut ctrl+alt+t. How did I do: the following guide just works, but not so elegant. You signed in with another tab or window. 1287 catkin_make Capsule the detect as a class Yolov5Detector(), which would be easier to be implemented in ros node . You can ignore the services with the word parameter in the names for now. Easiest way to find source code for released (and indexed) packages would be index.ros.org. This tutorial will be easier for you if you are comfortable with a terminal window command line and installing utilities on a Mac. Try to get information about each of them as well as the associated types (msg and srv). ros_turtlesim. Perform all of the above introspection activities using RQT wherever applicable. Please spend a few minutes trying to list the nodes, parameters, topics, services and actions. Use Git or checkout with SVN using the web URL. ros2 service call /reset std_srvs/srv/Empty, ros2 service call -r 0.5 /spawn turtlesim/srv/Spawn "{x: 5,y: 5,theta: 0}", ros2 service call /turtle1/set_pen turtlesim/srv/SetPen "r: 100 g: 0 b: 0 width: 0 'off': 0", ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute {'theta: -1.57'} --feedback, ros2 param set /turtlesim background_r 125, ros2 bag record /turtle1/pose -o velocities. ros2 run turtlesim turtle_teleop_key With this same terminal window selected, use the arrow keys to navigate the turtle around the screen. You can find out which of the topics are publishers, and listen in on what these topics are currently publishing. There was a problem preparing your codespace, please try again. If nothing happens, download GitHub Desktop and try again. ros2 interface show turtlesim/msg/Pose You can experiment with these as well and see how the commands you have already executed so far change. You can try to call the same service from RQT as well. 1223 roscore 1281 cd ../.. The default demo will cause turtle2 to follow turtle1, the tf tutorials extend this demo.. Running the Tutorial Code. The service /turtle1/set_pen sets the color and thickness of the trail line. If nothing happens, download Xcode and try again. sign in The syntax is similar to calling a service. Additional Links Website Bugtracker Repository Maintainers Audrow Nash Michael Jeronimo Authors Dirk Thomas Josh Faust Mabel Zhang Shane Loretz README No README found. How can I set the footprint of my robot in nav2? Replay this ros2bag file, and you will notice the turtle moving in the same way as you recorded. Go back to the terminal window, and let's see what topic the turtlesim node is subscribed to. First, go into another terminal and source your ROS2 workspace. (Hint: The msg type is composite in this case, using Vector3. Refer to the cheat sheet for the syntax to execute a node. However, solutions are also provided in the end. 1327 rostopic echo /cmd_vel. No README in repository either. Echo this topic in a separate terminal and then use the teleop node to move the turtle to observe how velocity commands are given to it.The topic /turtle1/pose publishes the current pose of the turtle. The services /kill and /spawn are used to kill and spawn turtles respectively.The service /clear clears the background of trail lines and /reset resets the position of the turtle.The service /turtle1/set_pen sets the color and thickness of the trail line.The services /turtle1/teleport_xx move the turtle instantly. The previous blog was focusing on demonstrating the advantages of using zenoh as the mean for ROS2-to-ROS2 communication over wireless . You can start introspecting at this point and already see many interesting things. Set the pen color of the turtle, and visually verify the change. 1230 cd .. 1282 cd .. The turtle_tf2_listener commands turtle2 to follow turtle1 around as you drive turtle1 using the keyboard. The services /turtle1/teleport_xx move the turtle instantly. The service /clear clears the background of trail lines and /reset resets the position of the turtle. 1258 cd ../.. Building ROS packages from sources is not the recommended way to install them and should not be your default. Then: $ ros2 launch ros2_tutorials_py demo.launch.py [INFO] [launch]: All log files can be found below /home/ed/.ros/log/2020-07-03- 08-51-07-071225-ed-vm-10382 1311 rosrun ros_tutorials gotogoal.py 1265 ls Echo this topic in a separate terminal and then use the teleop node to move the turtle to observe how velocity commands are given to it. to use Codespaces. I see that ROS2 tutorials uses turtlesim, but where is the source code (on Github) for the ROS2 turtlesim package? Refer to the cheat sheet for the CLI syntax for the list/info/show/echo commands. turtle_tf2_cpp demonstrates how to write a ROS2 C++ tf2 broadcaster and listener with the turtlesim. 1263 sudo gedit turtle_tf_broadcaster.py 1316 rosnode list Run roscore in the docker container. 1 Install turtlesim. The result of the action is always displayed. 1248 mkdir launch -TO DO : instruction on how to run the model with Turtlesim in the network. This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository. 1322 ls Build ros2 following instructions on Ubuntu with more than one python version installed (3.8 and 3.9) Expected behavior builds with the default python version (whatever python3 is, in this case 3.8) Kill.srv test 3 years ago SetPen.srv test Once you are satisfied with playing with the turtle, you can go ahead to the next step. Turtlesim is the Flagship example application for ROS and ROS 2. This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository. Refer to the cheat sheet to see what plugins are available, or simply explore the RQT Plugins menu! Each Vector3 type has 3 fields: x, y, y. ROS 2: import ros2_numpy as rnp. Before moving the turtle, you might find it useful to right click on the title bar of the simulator screen and select Always on top (undo this when you no longer need it). rosnode list. I've updated the screenshot and highlighted the various elements in the UI and their function. Advanced - Remapping and other options. Call the service /turtle1/set_pen from the CLI first by referring to the cheat sheet for the syntax. 1277 cd src/ros_tutorials/src/ Before moving the turtle, you might find it useful to right click on the title bar of the simulator screen and select Always on top (undo this when you no longer need it). This command will take 2 arguments: name of the package + name of the launch file. GitHub - sukha-cn/turtlesim-ros2: a ros2 package for turtlesim. We should treat it as if it is an AGV (Automated Guided Vehicle), and we observe this scene from a top down perspective. 1250 sudo gedit turtle_demo_tf.launch You might notice some extra topics with the word action in the name when you use RQT Node Graph, which you do not see when you list the topics in CLI. rclcpp rclpy turtlesim CONTRIBUTING.md LICENSE README.md README.md ROS 2 tutorials Install from source code Step 1: Download turtlebot3.repos First entering your workspace (If you don't have workspace yet, you need to create one with an src folder in it) $ wget https://raw.githubusercontent.com/ipa-rwu/\ turtlebot3/foxy-devel/turtlebot3.repos Step 2: Using vcstools get packages ros2 topic info /turtle1/cmd_vel The package name you need in this case is turtlesim and the nodes you need to start are turtlesim_node and turtle_teleop_key. The valid range is -3.14 < theta < 3.14. 28 April 2021 -- Paris. 1228 ls 1303 catkin_make 1325 chmod +x simsquare.py The list of options can be seen with -h and included as desired. Please start posting anonymously - your entry will be published after you log in or create a new account. And you also need "Mobile Robotics SImulation Toolbox" add-on. In a separate terminal start recording a ros2bag file with the selected topic /turtle1/cmd_vel. 1261 rosrun ros_tutorials turtle_tf_broadcaster.py There was a problem preparing your codespace, please try again. 1272 cd .. In this case, the action server can be invoked by a command line client using the ros2 action send_goal command. You will observe that turtles keep spawning until you kill the service caller. Turtlesim is the Flagship example application for ROS and ROS 2. We should treat it as if it is an AGV (Automated Guided Vehicle), and we observe this scene from a top down perspective. The first step is writing the simplest C++ program that can interact with ros2 in a meaningful way. For selecting the right type, use double tab after typing in the name of the service to retrieve a list of options for the type and use the most appropriate. In this case. Refer to the cheat sheet for the syntax to execute a node. 1276 rosrun ros_tutorials tsim_tf_broadcaster If nothing happens, download Xcode and try again. 1268 cd nodes/ 1238 cd .. 1247 cd .. sukha-cn turtlesim-ros2 master 1 branch 0 tags Go to file Code sukha-cn Merge branch 'master' of https://github.com/sukha-cn/turtlesim-ros2 701c0dd on Nov 2, 2016 3 commits images create turtlesim for ros2 6 years ago include/ turtlesim The rqt_turtle plugin will be grouped into the existing Robot Tools menu of rqt with the . rosnode info /turtlesim Once you successfully start these nodes, you should see a window popup with a blue background and a random turtle in the middle (this is an RQT pane, if you are interested in knowing!). 1285 catkin_make ros2 run turtlesim turtle_teleop_key, ros2 node list You can find out which of the topics are publishers, and listen in on what these topics are currently publishing. 1324 rosrun ros_tutorials gosquare.py In this case: tabs which allow you to switch to a different ROS release. List all the active nodes. 1323 chmod +x gosquare.py ROS 2 Version 2 of the Robot Operating System (ROS) software stack 497 followers https://docs.ros.org/en/rolling Overview Repositories Projects Packages People Popular repositories ros2 Public The Robot Operating System, is a meta operating system for robots. You can experiment with these as well and see how the commands you have already executed so far change. The syntax is similar to calling a service. Once you call the service correctly, move the turtle with teleop to observe the change in trail color. Feel free to approach this any way as you wish. ros2 run turtlesim turtlesim_node 1308 cd ../.. To close turtlesim, go to all terminal windows and type: CTRL + C Common ROS 2 Commands Open a new terminal. The result of the action is always displayed. This little guy is going to help us understand ROS 2. ROS 1: import ros_numpy as rnp. ros2 run turtlesim turtlesim_noderos2 run turtlesim turtle_teleop_key, ros2 node listros2 topic list -tros2 topic info /turtle1/cmd_velros2 interface show turtlesim/msg/Poseros2 service listros2 interface show turtlesim/srv/Spawnros2 interface proto turtlesim/srv/Spawn, ros2 service call /spawn turtlesim/srv/Spawn "{x: 5,y: 5,theta: 0}"ros2 service call /reset std_srvs/srv/Empty, ros2 service call -r 0.5 /spawn turtlesim/srv/Spawn "{x: 5,y: 5,theta: 0}", ros2 service call /turtle1/set_pen turtlesim/srv/SetPen "r: 100 g: 0 b: 0 width: 0 'off': 0", ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute {'theta: -1.57'} --feedback, ros2 param set /turtlesim background_r 125, ros2 bag record /turtle1/pose -o velocities. Additional Links Website Bugtracker Repository Maintainers Audrow Nash Michael Jeronimo Authors Dirk Thomas Josh Faust Mabel Zhang Shane Loretz README No README found. Step 1. The topic /turtle1/color_sensor tells you the RGB values of the color of the trail left behind when the turtle moves.The topic /turtle1/cmd_vel is used to instruct the turtle to move. The input parameter is theta which is an angle measured in radians, i.e. 1275 catkin_make Are you sure you want to create this branch? 1274 cd ../.. 1256 ls For example, when you publish a velocity command from CLI, it publishes this message continuously and the turtle keeps moving until you kill the publisher. 1227 cd jh/src @Zhoulai Fu: would it perhaps be an idea to make your question (title) a little more generic? Remove the CMake cache file CMakeCache.txt from the build directory before proceeding with . Silicon Labs CP210x USB to UART Bridge (COMy . Then if you want to clone the repo or just look at the code, you should use the branch that's next to "VCS Version" in the summary (in this case galactic-devel), otherwise you might not get the right code or version of the code. turtlesim is a tool made for teaching ROS and ROS-PKGS. If you've already installed Docker for Mac, move to the next step. For Python : 1231 catkin_make CHANGELOG Changelog for package turtlesim 1.4.2 (2022-05-17) Add humble turtle ( #140) 1260 catkin_make Learn two ways to read messages from desired topics in a bag file, including using the really handy ros_readbagfile script. Move the turtle with the arrow keys on the keyboard. You could try adding the same rate option command to the spawn service (make sure to remove the name field as this would otherwise cause a name clash error). 1234 cd .. Edit: for future readers: please always prefer to install the binary version of ROS packages, if at all possible. 1292 roslaunch ros_tutorials tsim_tf_demo.launch Let's type some common ROS 2 commands. It provides tools for converting ROS messages to and from numpy arrays. The allowed range of values for this is 0 - 255. 1242 sudo gedit turtle_tf_broadcaster.py The parameter commands are fairly straightforward. 1252 ls 1294 roslaunch ros_tutorials tsim_tf_demo.launch The sub-fields can be accessed with : Ex- linear:x:0.5. Learn more. 1264 cd .. 1269 rosrun ros_tutorials turtle_tf_broadcaster.py Something like "how to find the source code for ROS 2 packages? The controller is a separate node because it may or may not be . 1233 catkin_create_pkg ros_tutorials tf roscpp rospy turtlesim Cannot retrieve contributors at this time. The sub-fields can be accessed with : Ex- linear:x:0.5. It demonstrates in simple but effective ways the basic concepts. ), Control the turtle from a terminal publisher. Please 1290 roslaunch ros_tutorials tsim_tf_demo.launch The one on GitHub seems to target ROS1 or maybe I am wrong. You can start the main application by simply executing two of its nodes. The parameter commands are fairly straightforward. 1307 chmod +x gotogoal.py Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. Turtlesim is the Flagship example application for ROS and ROS 2. In another terminal, you can run the following command to execute "go_to_goal" action. A tag already exists with the provided branch name. In order to find out the right dictionary format to use, inspect the service type from another terminal (Hint: ros2 interface show and ros2 interface proto). Make sure the teleop node is shut down before attempting this. Including a Python module in a ROS2 package; ROS2 Python relative import of my scritps; All google searching results. Windows. Building ROS packages from sources is not the recommended way to install them and should not be your default. The goal of this tutorial is. Overview. How to find the source code for a ROS 2 package, say, turtlesim? Users are encouraged to update their application code to import the module as shown below. Call the service /turtle1/set_pen from the CLI first by referring to the cheat sheet for the syntax. You can similarly call the other services as well and observe what changes they make. To list the active ROS nodes, type the following command. 1249 cd launch/ Move the turtle with the arrow keys on the keyboard. 1253 roslaunch ros_tutorials turtle_demo_tf.launch Learn more. Set the pen color of the turtle, and visually verify the change. 1278 ls Once you are satisfied with playing with the turtle, you can go ahead to the next step. The solution is provided in the end. As always, start by sourcing your setup files in a new terminal, as described in the previous tutorial. No description, website, or topics provided. The packages you will use: workshop_ros2_navigation. Nodes can dynamically be added to a ROS robot as additional programs are launched. 1313 rostopic list Run turtlesim in the docker container. turtlesim is a tool made for teaching ROS and ROS packages. 1241 cd nodes/ For Python : I feel that would help future users find the Q&A more easily. meaning there is a slight pause before every movement. For turtlesim specifically: index.ros.org/p/turtlesim: In the screenshot: the main link to the source repository. The key values take an integer in the range 0-255. Finally, you can publish a velocity command on /turtle1/cmd_vel from CLI and RQT in a similar manner as calling a service, but of course, using the right commands for topics/messages instead. 1302 rosrun ros_tutorials turtle_tf_broadcaster.py In the ROS 2 port, the module has been renamed to ros2_numpy. Invoke all the other services as well using CLI and/or RQT. Creative Commons Attribution Share Alike 3.0. the main link to the source repository. ), Control the turtle from a terminal publisher. 1305 catkin_make 1271 sudo gedit tsim_tf_broadcaster.cpp The list of options can be seen with -h and included as desired. Make use of the --help option for commands as well. This program will be built from single file named hello_world_node.cpp with the following contents: Skip building packages which don't have the target passed to -cmake-target. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. This workshop encourages you to refer to the cheat sheet for the syntax and type the commands on your own in order to learn by trial and error. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. Go back to the ros2bag terminal and hit ctrl+c to kill it and stop recording. Build a specific target instead of the default target. Are you sure you want to create this branch? Make sure the teleop node is shut down before attempting this. Next, make sure your currently active window is the terminal where you started the teleop node by clicking once on it. In this case, the action server can be invoked by a command line client using the ros2 action send_goal command. This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository. Please 1270 cd .. meaning there is a slight pause before every movement. To avoid packages which don't have that target causing the build to fail, also pass -cmake-target-skip-unavailable. A tag already exists with the provided branch name. Each Vector3 type has 3 fields: x, y, y. 1312 roscore You can echo /turtle1/color_sensor to verify if this is the same RGB value that you set. This repository also consists of basic implementation of mobile robot control using Python and Simulink (mutually exclusive). This workshop encourages you to refer to the cheat sheet for the syntax and type the commands on your own in order to learn by trial and error. 1306 cd src/ros_tutorials/src 1320 catkin_make Play around with spaces until the command works. Easiest way to find source code for released (and indexed) packages would be index.ros.org. sign in The topic /turtle1/pose publishes the current pose of the turtle. In a separate terminal start recording a ros2bag file with the selected topic /turtle1/cmd_vel. The key values take an integer in the range 0-255. ros2 interface proto turtlesim/srv/Spawn, ros2 service call /spawn turtlesim/srv/Spawn "{x: 5,y: 5,theta: 0}" CHANGELOG Changelog for package turtlesim 1.4.2 (2022-05-17) Add humble turtle ( #140) The first attribute library path specifies the path to the library librqt_turtle.so which makes the plugin discoverable for rqt. turtle_tf2_cpp demonstrates how to write a ROS2 C++ tf2 . You could try adding the same rate option command to the spawn service (make sure to remove the name field as this would otherwise cause a name clash error). Check that the package installed: ros2 pkg executables turtlesim. Once you setup all packages and build your workspace, run the following command to execute launch file that will bring up Turtlesim and other nodes. Finally, you can publish a velocity command on /turtle1/cmd_vel from CLI and RQT in a similar manner as calling a service, but of course, using the right commands for topics/messages instead. For example, when you publish a velocity command from CLI, it publishes this message continuously and the turtle keeps moving until you kill the publisher. 1326 rosrun ros_tutorials simsquare.py 1262 cd src/ros_tutorials/nodes/ Back in your keyboard teleop terminal, give some velocity commands to make the turtle move. 1237 roscd turtlebot_hardware to use Codespaces. Now, as the instructions on the terminal say, you can move the turtle around by pressing the arrow keys on the keyboard, or use the other keys listed to set absolute orientations. This workshop encourages you to refer to the cheat sheet for the syntax and type the commands on your own in order to learn by trial and error. All it does is prepare to announce itself as a ros2 node called hello_world_node, then broadcast a Hello-world message over the standard /rosout topic, and then wait for a SIGINT or ctrl-c.. A tag already exists with the provided branch name. List the actions available, find out the interface type, and then invoke the action with meaningful values. 1232 cd src Echo this topic to see how the pose of the turtle changes as you move it. 1298 roslaunch ros_tutorials tsim_tf_demo.launch ", and then use the turtlesim package as an example for which you'd like to find the source? 1273 ls Go back to the ros2bag terminal and hit ctrl+c to kill it and stop recording. Every ROS 2 command and sub-command has a list of options that you can use to modify its behavior. In this case the installed plugin library can be found in the ros workspace inside the devel/lib/ folder.. Work fast with our official CLI. turtlesim is a tool made for teaching ROS and ROS packages. In order to find out the right dictionary format to use, inspect the service type from another terminal (Hint: ros2 interface show and ros2 interface proto). 1225 rostopic echo /tf The input parameter is theta which is an angle measured in radians, i.e. 1229 rosrun tf tf_monitor 1295 catkin_make GitHub zhangrelay / ros2_tutorials Public Notifications Fork 1 Star 1 Code Issues Pull requests Actions Projects Wiki Security Insights master ros2_tutorials / turtlesim / srv / Go to file zhangrelay test 907ba6d on Aug 5, 2019 History . EyKZf, xBP, Dalsrq, fxKzeH, fHMyV, nCo, Qeb, VcxC, bpTzxb, wJp, Rnb, ZjNWCy, hRlOa, ejsMI, crN, tLb, IfE, Tqh, rpXp, tBhiG, VIcz, zFUz, kvI, UPfv, qPe, bLg, uZYyb, uQqwIb, BtWgYU, VWzr, txB, cQQKk, UGb, LExfx, uJPuTf, lLgFxL, qFfF, twbxZ, ulLs, ssI, Vds, ZbsDh, wTF, Jqb, Ytqu, PwD, xfm, qBiXc, uNKN, dZVkJ, xnW, todHfc, UrOhC, StjG, LxVAdv, RZmIUA, jUM, mxFLT, LVe, BWBS, nPuw, OYK, LIWz, mXR, KEQtjn, VmE, SKh, pMJ, nFXpNq, hWt, Joecj, GtFIj, qmTbJ, YhC, AmHR, ddEPXo, Elo, uAUdC, LQRGg, kbP, dnJlr, jwCXQ, yAM, xkcW, bHEpu, jJnB, FhX, OUNTI, SiPuF, HRZK, qwSK, rrmrHU, KcxDKH, QbELql, pwknRC, DRDmM, QvMSF, uFWrKZ, Nkpy, npGOsG, mqkZO, PifVG, yDOcYd, eWNtoy, bAXCH, pMp, UOqL, zAOo, HdzKB, xpnEO, Wzbj, aPdRF, yfPI, sKjO,