Connect and share knowledge within a single location that is structured and easy to search. (MPC)python40MPCUdacityMPCpythonUdacityrosstagegazeboturtlebotROS Stage, 4..bashrc.bashrcgedit /.bashrcstage, rviz"+"PublishPointOK, Publish PointRVIZ/clicked_pointTopic/mapx,y, TurtlebotROSTurtlebotv w Turtlebot, cte \text{cte}cteepsi \text{epsi}epsi(MPC)python40N NNMPC, MPCturtlebot, (MPC)python40, install turtlebot on ubuntu 18.04 + ros melodic, turtlebot_stageTutorialsindigoCustomizing the Stage Simulator, hector_quadrotor | ubuntu 16.04 ros-kinetic. lis.append(str(i)) Maintainer status: maintained; Maintainer: Vladimir Ermakov , scale_factoradd_offset, https://blog.csdn.net/ktigerhero3/article/details/70256437, []python'env = gym.make(CartPole-v0)'[]. As noted in the official documentation, the two most commonly roscoreterminal, packagelearn_rviz_tfrviztfpackage visualization_msgsmarker;tftf Was the ZX Spectrum used for number crunching? (MPC)python40MPC UdacityMPCpythonUdacityrosstagegazebo Next we create an ImageTransport object which is the image_transport equivalent to the node handler and use it to create a subscriber that subscribes to the IMAGE_TOPIC message. If UE4 and rosbridge are both running, then you should see the rosbridge node subscribe to two topics with the prefix /unreal_ros/.If you do NOT see this, then you likely have a problem with your callbackmakertimestamp if i%7==0 and i%5!=0: ~~ROSrviznav_msgs/Pathrviznav_msgs/Pathrviz1.hector_slamgoogle rviz?http://answers.ros launchfake_mrobot_with_laser.launch WebChip Robotics. :[128,252], :(0,127]. In this ROS 2 Navigation Stack tutorial, we will use information obtained from LIDAR scans to build a map of the environment and to localize on the map. Launch: demo_robot_mapping.launch $ roslaunch rtabmap_ros demo_robot_mapping.launch $ https://github.com/zhaozhongch/ros_tutorial m=int(m) One of the simplest MoveIt user interfaces is through the Python-based Move Group Interface. ROS 1. With the second argument we define if we only want to get a subset of the images (e.g. Contact page: Chip Robotics Product Website: https://chiprobotics.com Brushless DC Motor Controller. Setup Assistant h) Create New MoveIt! exmaple_usageset_marker_fixed_property()marker, rvizmarkermy_framemy_framemarkerrvizmy_framemarker m=int(m) As noted in the official documentation, the two most commonly As noted in the official documentation, the two most commonly ROS():rviz. Dual EU/US Citizen entered EU on US Passport. OK, 1.1:1 2.VIPC. WebHow to verify the rosbridge-UE4 connection: Make sure UE4 is configured to use the ROSIntegrationGameInstance (see below) and set the connection parameters. warehous map . WebROSpluginnav_core::BaseGlobalPlanner C++ A*ROS 1. 1.1 initialize void AstarPlanner::initializ terminal,cdrosbagrosbagtopicchatter, marker(rosbag) TF2 transform can't find an actuall existing frame. #!/usr/bin/env python import rospy import copy import tf2_ros import time import numpy as np import math import tf from math import sqrt, pow from geometry_msgs.msg import Vector3, Point from std_msgs.msg import Int32MultiArray from std_msgs.msg import Bool from nav_msgs.msg import OccupancyGrid, Path from , JuneSSSSA: Help us identify new roles for community members, Proposing a Community-Specific Closure Reason for non-English content, Draw images with canvas and use SimpleDocTemplate, Numpy - Transformations between coordinate systems, Compute camera and image pixel positions in 3D after OpenCV stereoRectify, Transforming the screen space to world space to create a point cloud in python, Returning DataFrame from one class to another class, How to apply the essential matrix to transform a 3D point from camera 1's world coordinate to camera 2's world coordinates. Web(MPC)python40MPCUdacityMPCpythonUdacityrosstagegazebo But I have actually set up the listner, I have another node call local planner that use the same strategy and it works for that node, but not for the global planner In this ROS 2 Navigation Stack tutorial, we will use information obtained from LIDAR scans to build a map of the environment and to localize on the map. found unexpected ':',please check http://~" These wrappers provide functionality for most operations that the average user will likely need, specifically setting joint or pose goals, creating motion plans, moving the robot, adding objects into the environment and Easy to communicate using USB or UART. print '+'.join(lis) Web()slamros SLAM). One of the simplest MoveIt user interfaces is through the Python-based Move Group Interface. rev2022.12.11.43106. MOSFET is getting very hot at high frequency PWM, Concentration bounds for martingales with adaptive Gaussian steps. WebChip Robotics. ROSwstoolcatkin-tools 2 . ROS 1. sudo apt install python-pip Python c). The purpose of doing this is to enable our robot to navigate autonomously through both known and unknown environments (i.e. The ROS Navigation Stack requires that we publish information about the relationships between coordinate frames of the robot using the tf ROS PoseStamped). message:poseStampedROS wiki(msg.pose.orientation) In a global planner node that I wrote, I have the following init code, And there is a call-back function call getTransformed goal, which will take the goal position in the "cell_tower" frame to the "world" frame. , Muyang_wssrcur5_package ROSPython. n=input() . message:poseStampedROS wiki(msg.pose.orientation) ROS():rviz. To learn more, see our tips on writing great answers. Should I exit and re-enter EU with my EU passport or is it ok? Contact page: Chip Robotics Product Website: https://chiprobotics.com Brushless DC Motor Controller. weixin_48687724: MarkerPublishermpnodehandleMarkerPublisherMarker With the second argument we define if we only want to get a subset of the images (e.g. /etc/apt/sources.list.d/ros-latest.list', sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 0xB01FA116, apt-cache search ros-kinetic, rosdep update (rosdeprospack find rosdeprospacksudo apt install rospack-tools22, echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc (kinetickgedit .bashrcsourcek, ), roscore ROS, sudo apt-get install ros-kinetic-turtlesim (16.04) roscore rosrun turtlesim turtlesim_node rosrun turtlesim turtle_teleop_key ~, ROS a). Ubuntu+ROSa) VMwareUbuntu 16.04b) Ubuntu16.04LTS ROSKinetic:2. for i in range(m,n+1): 8ros RvizROS [/code], alne123: ROSgeometry_msgs Inertia InertiaStamped Point Point32 PointStamped Polygon PolygonStamped Pose Pose2D PoseArray PoseStamped PoseWithCovariance PoseWithCovarianceStamped Quaternion QuaternionStamped Transform TransformStamped Twist TwistStamped TwistWithCovariance The messages on this topic are generated using the goal button on RViz. The purpose of doing this is to enable our robot to navigate autonomously through both known and unknown environments (i.e. One of the simplest MoveIt user interfaces is through the Python-based Move Group Interface. WebROSpluginnav_core::BaseGlobalPlanner C++ A*ROS 1. 1.1 initialize void AstarPlanner::initializ WebChip Robotics. , marker Web()slamros intfloatarrayc++ROS pubsub ROSVMwareUb int stringROSROS = = %s/^/ %s/$/ It take a lot to know a man https://github.com/zhaozhongch/ros_tutorial, http://docs.ros.org/melodic/api/visualization_msgs/html/msg/Marker.html, http://wiki.ros.org/rviz/DisplayTypes/Marker, ROS:()C++CMakeLists. 8ros rotors_simulationrotors_simulation ubuntu 18.04ROS melodic 1 . Why was USB 1.0 incredibly slow even for its time? Detailed API for communication.. ROS Driver for Communication with Motor Controller. Browse other questions tagged, Where developers & technologists share private knowledge with coworkers, Reach developers & technologists worldwide. ROSgeometry_msgs Inertia InertiaStamped Point Point32 PointStamped Polygon PolygonStamped Pose Pose2D PoseArray PoseStamped PoseWithCovariance PoseWithCovarianceStamped Quaternion QuaternionStamped Transform TransformStamped Twist TwistStamped TwistWithCovariance move_base :: , . callbackvoid PoseCallback(const geometry_msgs::PoseStamped::ConstPtr& msg) pub_markertopicvisualization_markervisualization_msgs::Markertopicrvizmarkertopic( Marker Topicvisualization_marker)visualization_msgs, marker, ros move_basemove_baseROS.: move_base move_base respawn falseclear_params true rosparam yaml yaml, : turtlebot3githubhttps://github.com/ROBOTIS-GIT/turtlebot3/tree/master/turtlebot3_navigation/param, param : costmap_common_params_burger.yamllocal_costmap_params.yamlglobal_costmap_params.yamlbase_local_planner_params.yamlcostmap_common_params_burger.yaml :costmap_common_params.yaml. WebHow to verify the rosbridge-UE4 connection: Make sure UE4 is configured to use the ROSIntegrationGameInstance (see below) and set the connection parameters. Not the answer you're looking for? found unexpected ':',please check http://~" If UE4 and rosbridge are both running, then you should see the rosbridge node subscribe to two topics with the prefix /unreal_ros/.If you do NOT see this, then you likely have a problem with your Why is the eastern United States green if the wind moves from west to east? WebMove Group Python Interface. # terminal_1 $ roscore # terminal_2 $ cd ~/Firmware $ make px4_sitl_default gazebo___warehouse ## "_" 3 # terminal_3 $ roslaunch modudculab_ros ctrl_pos_gazebo.launch # terminal_4 $ rosrun mavros mavsafety arm $ rosrun mavros mavsys mode -c OFFBOARD ROS 1. (ros melodic)ROSrviz2d Nav goalrvizUbuntuRVIZ [code=python]m=input() Japanese girlfriend visiting me in Canada - questions at border control? ROSwstoolcatkin-tools 2 . amcl move_base Rviz : "$(find )/param/costmap_common_params.yaml", "$(find )/param/local_costmap_params.yaml", "$(find )/param/global_costmap_params.yaml", "$(find )/param/base_local_planner_params.yaml", # robot_radius, footprint, # footprint: [[-0.12, -0.12], [-0.12, 0.12], [0.12, 0.12], [0.12, -0.12]] #, # : 3.0 3 , # 3.5 3.5 , #kinect. sudo apt install terminatorROS b). Next we create an ImageTransport object which is the image_transport equivalent to the node handler and use it to create a subscriber that subscribes to the IMAGE_TOPIC message. Maintainer status: maintained; Maintainer: Vladimir Ermakov The ROS Navigation Stack requires that we publish information about the relationships between coordinate frames of the robot using the tf ROS PoseStamped). , jskskskak: sudo pip install ipython debug d). Find centralized, trusted content and collaborate around the technologies you use most. Configuration Packagebrowse/opt/ros/kinetic/share/franka_description/robots/panda_arm_hand.urdf.xacro load i) self-collision95%Generate Collision Matrix j) Virtual Joints k) Planning Groups l) Add Jointsjoint m) saveadd group n) add jointsAdd Linkslinks o) Robot poses add pose8joints: p) End Effectors q) ROS Control Add planning group jointspanda_arm r) Author informationConfiguration filesGenerate Package, a) demo.launchdemo.launch b) panda_moveit_configconfigcontrollers.yaml, c) configjoint_names.yamljoint, d) launchpanda_moveit_controller_manager.launchpandaur5ur5, e) launchpanda_planning_execution.launch, b) UR5 UR5UR53.8, : The messages on this topic are generated using the goal button on RViz. for i in range(m,n+1): move_baseROSgmappingROSmove_baseturtlebotmove_base rosbag(rosbaggithubrosbag Web PX4 rospackage C++ catkinROS cd ~/catkin_ws/src catkin_create_pkg offboardoffb_node.cppsrc Ubuntu+ROSa) VMwareUbuntu 16.04b) Ubuntu16.04LTS ROSKinetic:2. marker, marker_.color.a1,marker(hhhh)red,green,blue01marker Examples of frauds discovered because someone tried to mimic a random sequence. scale, markerscalemarkerx,y,zmarkerxscalr10.1 Launch: demo_robot_mapping.launch $ roslaunch rtabmap_ros demo_robot_mapping.launch $ Contact page: Chip Robotics Product Website: https://chiprobotics.com Brushless DC Motor Controller. # terminal_1 $ roscore # terminal_2 $ cd ~/Firmware $ make px4_sitl_default gazebo___warehouse ## "_" 3 # terminal_3 $ roslaunch modudculab_ros ctrl_pos_gazebo.launch # terminal_4 $ rosrun mavros mavsafety arm $ rosrun mavros mavsys mode -c OFFBOARD [/code], Maintainer status: maintained; Maintainer: Vladimir Ermakov Web PX4 rospackage C++ catkinROS cd ~/catkin_ws/src catkin_create_pkg offboardoffb_node.cppsrc Do bracers of armor stack with magic armor enhancements and special abilities? These wrappers provide functionality for most operations that the average user will likely need, specifically setting joint or pose goals, creating motion plans, moving the robot, adding objects into the environment and marker_rviz 10 would mean we get every 10th published image). rvizmarkerframe_idmarkerrvizGlobal FrameFixed Framemapmapmy_frame, topicchattergeometry_msgs::PoseStampedvisualization_msgs::Markertopicvisualization_marker Launch: demo_robot_mapping.launch $ roslaunch rtabmap_ros demo_robot_mapping.launch $ These primitives are designed to provide a common data type and facilitate interoperability throughout the system. move_basenavigationnavigation: move_base:move_baseaction, move_base/goal(move_base_msgs/MoveBaseActionGoal), move_base/feedback(move_base_msgs/MoveBaseActionFeedback), move_base/status(actionlib_msgs/GoalStatusArray), move_base/result(move_base_msgs/MoveBaseActionResult), move_base_simple/goal(geometry_msgs/PoseStamped), ()SLAMROSSLAM, , :global_costmap() local_costmap(), Inflation Layer. Check the following image, which is for active http://wiki.ros.org/rviz/UserGuide These primitives are designed to provide a common data type and facilitate interoperability throughout the system. ROS 1. : Product Page Motor controller for a single brushless DC motor. Product Page Motor controller for a single brushless DC motor. (ros melodic)ROSrviz2d Nav goalrvizUbuntuRVIZ (MPC)python40MPC UdacityMPCpythonUdacityrosstagegazebo WebHow to verify the rosbridge-UE4 connection: Make sure UE4 is configured to use the ROSIntegrationGameInstance (see below) and set the connection parameters. enter image description here. Web(MPC)python40MPCUdacityMPCpythonUdacityrosstagegazebo ROSwstoolcatkin-tools 2 . These primitives are designed to provide a common data type and facilitate interoperability throughout the system. ROS():rviz. markerid, rvizrviztutorialrvizinteract, Move Camera, SelectSelectSelectSelectionDisplaymarkermarker WebMPCC++pythoncvxpyLQR1. ROSnavigation move_base , move_base (action)move_base (7.1)move_base. # false. Asking for help, clarification, or responding to other answers. WebMPCC++pythoncvxpyLQR1. WebFor this demo, you will need the ROS bag demo_mapping.bag (295 MB, fixed camera TF 2016/06/28, fixed not normalized quaternions 2017/02/24, fixed compressedDepth encoding format 2020/05/27, fixed odom child_frame_id not set 2021/01/22).. if i%7==0 and i%5!=0: Web(MPC)python40MPCUdacityMPCpythonUdacityrosstagegazebo The purpose of doing this is to enable our robot to navigate autonomously through both known and unknown environments (i.e. ROSpluginnav_core::BaseGlobalPlanner C++ , heightwidthcostmap->getCost(j, i)cellcost_value,costvalue=0cellcellcellsfreeOGM[map_size], makePlannav_core::BaseGlobalPlanner plan, came_from[]IndexworldPosepublish, astar_planner.cppastar_planner::AstarPlanner classROS, navigation packagemove_base_params.yamlname, http://wiki.ros.org/navigation/Tutorials/Writing%20A%20Global%20Path%20Planner%20As%20Plugin%20in%20ROS, "This planner has already been initialized doing nothing", //nextNode.cost = gCosts[neighborIndexes[i]]; //Dijkstra Algorithm, "This planner has not been initialized yet, but it is being used, please call initialize() before use", // Extract the plan in world co-ordinates, we assume the path is all in the same frame, //register this planner as a BaseGlobalPlanner plugin, , , /Tutorials/Writing%20A%20Global%20Path%20Planner%20As%20Plugin%20in%20ROS. n=int(n) markerposestampposeposeidmarkeridnamespacemarker,marker WebMove Group Python Interface. lis=[] , markermarkermarker, marker 10 would mean we get every 10th published image). count_++count_count_frame_idrvizmarkeridnamespace(marker_ns)idnamespacemarkermarkeridmarker By clicking Post Your Answer, you agree to our terms of service, privacy policy and cookie policy. n=input() These wrappers provide functionality for most operations that the average user will likely need, specifically setting joint or pose goals, creating motion plans, moving the robot, adding objects into the environment and Web()slamros WebROSpluginnav_core::BaseGlobalPlanner C++ A*ROS 1. 1.1 initialize void AstarPlanner::initializ (ros melodic)ROSrviz2d Nav goalrvizUbuntuRVIZ In this ROS 2 Navigation Stack tutorial, we will use information obtained from LIDAR scans to build a map of the environment and to localize on the map. WebFor this demo, you will need the ROS bag demo_mapping.bag (295 MB, fixed camera TF 2016/06/28, fixed not normalized quaternions 2017/02/24, fixed compressedDepth encoding format 2020/05/27, fixed odom child_frame_id not set 2021/01/22).. ROSNodea) ROS:b) ROSPackageROS Packagec) ROS nodes rviz 3fixed framecamera_link, DepthCloud1base_link->laser_link3 Fixed framecamera_link, Universal Robots2005UR3, https://blog.csdn.net/weixin_44109255/article/details/86740327, b) ROSPackageROS Package, https://github.com/ros-industrial/ur_modern_driver, https://github.com/ros-industrial/universal_robot, xrandrxrandr -s 1920x1440, Ros topicmessagepublishersubscribernodestopicnodestopictopicpublishersubscribernodetopicmessageTopicmessage, ROS service: service nodestopictopicpublishersubscriberservice, servicemessageROS nodeservicenode, ROS action: Action nodesActionServiceServiceROSserviceserviceActionROSactionROSaction, pkg=package_name # Name of the package that contains the code of the ROS program to execute, type=cpp_executable_name # Name of the cpp executable file that we want to execute, name=node_name # Name of the ROS node that will launch our C++ file, output=type_of_output # Through which channel you will print the output of the program, rospack list | grep my_packageroscd my_package, my_packagesrcfileplanning_script.py, launchmy_package mkdir launchtouch launch/my_package_launch_file.launchIDElaunch, Python, 5panda_planning_execution.launch5panda_planning_execution.launch, 6my_package_launch_file.launch, my packageROSgithubur_modern_driver, , http://wiki.ros.org/rosdepsudo apt-get install python-rosdepsudo rosdep initrosdep, rosdep install --from-paths src --ignore-src -r -y catkin_make, UR53.8ur_modern_driver, ur_modern_driversrc/robot_state_RT.cpp3405, ur_modern_driverincludeur_modern_driver.hur_hardware_interface.hcanSwitchprepareSwitch, const, ur_modern_driverCmakelist.txtcatkin_packageDEPENDS. 8ros RvizROS scale_factoradd_offset, 1.1:1 2.VIPC. sudo apt install meld , ROSRobot Operating System, nodesROSROSnodesNodestopicService, noderosnode listnodesnodenodesource, rosmsg show messagemessageC, node node, ROSrostopic listtopicrostopic echo topicrostopic echo -n1topic, rostopic info topic, messagerosmsg show rosmsg show std_msgs/Int32 Int32typestruct, rostopic info Pythonrosmsg show variable rostopic pub subscriberrostopic pub /counter std_msgs/Int32 7 , counterscreen7, ROStopicrostopic info msgrosmsg show msgmsgrostopic echo topicPythonPythonlaunchCMakelistROS~, () echo $ROS_PACKAGE_PATH /home/youruser/catkin_ws/src:/opt/ros/kinetic/share ("youruser"), a) mkdir -p ~/Muyang_ws/srcMuyang_ws b) cd ~/ Muyang _ws/ c) catkin_makeCmakelist.txt d) source devel/setup.bashros e) sudo apt-get install ros-kinetic-moveitmoveitmoveit f) sudo apt-get install ros-kinetic-franka-descriptionpandaurdf g) roslaunch moveit_setup_assistant setup_assistant.launchMoveIt! learn_rviz_tfsrcpub_marker_msgs.cpp, 8ros RvizROS Webgeometry_msgs provides messages for common geometric primitives such as points, vectors, and poses. Would like to stay longer than 90 days. Web PX4 rospackage C++ catkinROS cd ~/catkin_ws/src catkin_create_pkg offboardoffb_node.cppsrc lis.append(str(i)) RvizROSposeStampedposeStampedtopicchatterrosbag. # terminal_1 $ roscore # terminal_2 $ cd ~/Firmware $ make px4_sitl_default gazebo___warehouse ## "_" 3 # terminal_3 $ roslaunch modudculab_ros ctrl_pos_gazebo.launch # terminal_4 $ rosrun mavros mavsafety arm $ rosrun mavros mavsys mode -c OFFBOARD With the second argument we define if we only want to get a subset of the images (e.g. http://wiki.ros.org/rviz/DisplayTypes/Marker finger, cnnjsuccess: enter image description here, and this image is for all the node (include non-active) When would I give a checkpoint to my D&D party that they can return to if they die? !!! WebMPCC++pythoncvxpyLQR1. visualization_msgs::Markermarkermarker lis=[] ~~ ROSrviznav_msgs/Path, rviz nav_msgs/Pathrviz, google rviz? http://answers.ros.org/question/209224/show-robot-trajectory-in-rviz-real-time/ hector_slam http://wiki.ros.org/hector_slam/Tutorials/MappingUsingLoggedData bag 1, 2bag rosbag play Team_Hector_MappingBox_RoboCup_2011_Rescue_Arena.bag --clock 3 4topic, globel optionFixed Framodom add path pathtopic /trajectory, gojikunba: Easy to communicate using USB or UART. [code=python]m=input() rotors_simulationrotors_simulation ubuntu 18.04ROS melodic 1 . Ubuntu+ROSa) VMwareUbuntu 16.04b) Ubuntu16.04LTS ROSKinetic:2. # This represents an orientation in free space in quaternion form. move_baseROSgmappingROSmove_baseturtlebotmove_base , weixin_54135066: The ROS Navigation Stack requires that we publish information about the relationships between coordinate frames of the robot using the tf ROS PoseStamped). WebMAVROS -- MAVLink extendable communication node for ROS with UDP proxy for Ground Control Station. message:poseStampedROS wiki(msg.pose.orientation) #!/usr/bin/env python import rospy import copy import tf2_ros import time import numpy as np import math import tf from math import sqrt, pow from geometry_msgs.msg import Vector3, Point from std_msgs.msg import Int32MultiArray from std_msgs.msg import Bool from nav_msgs.msg import OccupancyGrid, Path from Webgeometry_msgs provides messages for common geometric primitives such as points, vectors, and poses. To subscribe to this RSS feed, copy and paste this URL into your RSS reader. rviztftfros. print '+'.join(lis) The messages on this topic are generated using the goal button on RViz. Why do quantum objects slow down when volume increases? Which looks like this, I check the RQT plot for both active and all, which shows that when active, the topic /tf is not being subscribe by the node global planner. move_baseROSgmappingROSmove_baseturtlebotmove_base Making statements based on opinion; back them up with references or personal experience. n=int(n) WebMAVROS -- MAVLink extendable communication node for ROS with UDP proxy for Ground Control Station. If UE4 and rosbridge are both running, then you should see the rosbridge node subscribe to two topics with the prefix /unreal_ros/.If you do NOT see this, then you likely have a problem with your Where does the idea of selling dragon parts come from? timestampposeposerviz warehous map . ROSgeometry_msgs Inertia InertiaStamped Point Point32 PointStamped Polygon PolygonStamped Pose Pose2D PoseArray PoseStamped PoseWithCovariance PoseWithCovarianceStamped Quaternion QuaternionStamped Transform TransformStamped Twist TwistStamped TwistWithCovariance Try adding a timeout to your lookup_transform() function call, as your transformation may not be available when you need it: Thanks for contributing an answer to Stack Overflow! rosrviz SLAM). (MPC)python40MPC UdacityMPCpythonUdacityrosstagegazebo Is it cheating if the proctor gives a student the answer key by mistake and the student doesn't report it? 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