However, it is often verbose and not-intuitive to develop applications with, as well as requiring a lot of prior knowledge about the state of the system. This is a ROS 2 package for integrating the ros2_control controller architecture with the Gazebo simulator. This tutorial gives a brief overview and background on UAV Control and ROS2. Master ROS2 core concepts. These functionalities are bundled into specific autopilot firmwares which each offer a slightly different set of features, as well as differing user interfaces each with their advantages and drawbacks. Love podcasts or audiobooks? Move the slider on the rqt_robot_steering GUI, and watch the /cmd_vel velocity commands change accordingly. node --in--> C[Machine Vision] This blog post aims to be the unison of these components. A couple of useful topics are in the following table: Sometimes, you may need to send raw MAVlink back to the Autopilot to enable some non-standard functionality. An Introduction to ROS2 and UAV Control, Full manual control with RC sticks being sent directly to control roll, pitch, yaw and height, UAV uses onboard sensing to stay in place, RC sticks used to translate position. The controller manager keeps track of which resource are in use by each of the controllers. Check out the rqt graph. ros2: points to the next unreleased ROS 2 turtle, currently Foxy. ros2_control humble galactic foxy rolling noetic melodic Older Overview 0 Assets 9 Dependencies 0 Tutorials 0 Q & A Package Summary Repository Summary Package Description Metapackage for ROS2 control related packages Additional Links No additional links. Building the URDF will need to be done by you as well. You can get it via one simple call in your terminal. Also follow my LinkedIn page where I post cool robotics-related content. Hopefully the rest of this tutorial remains useful without working commands/output. Arduino will read Twist messages that are published on the /cmd_vel topic. When the gazebo_ros2_control plugin starts, the gazebo_system hardware_interface will read our URDF and needs to decided which joints it should or shouldnt manage. a single stream of one type of data. CPU Architecture: ARM, SPARC, X86 Let us first start with Gazebo. From this point on in this tutorial, 'drone' or 'UAV' will refer to a multi-rotor UAV unless otherwise stated. So in summary, the key concepts and terminology are: There are 2 versions of ROS: ROS1 and ROS2. A multicopter is a mechanically simple aerial vehicle whose motion is controlled by speeding or slowing multiple downward thrusting motor/propeller units. It consists of flight stack software running on vehicle controller ("flight controller") hardware. I have to write my own transmission plugin. Because a simulated robot is itself a Robot, they will also need to implement this robot specific code but will instead make calls to Gazebo internals rather than actuators/encoders on your robot. Here is an example element for our rotate bot: This isnt a traditional ros params file though it is interpreted similarly. To summarize, the whole Gazebo code flow is the following: You can see the ros2_controller running by adding the -c gazebo_controller_manager to your various ros2 control commands. node --in--> D[SLAM] Open a new terminal window, and check out the active topics. The actual PWM range is 0 to 255, but we wont want to get to either of these extremes. In this case, your robot should provide the standard JointPositionInterface and the JointStateInterface, so it can re-use all controllers that are already written to work with the JointPositionInterface and the JointStateInterface. So in our example we end up having. If you look at the gazebo_ros2_control package, you can see the gazebo_hardware_plugins.xml file which signifies that Gazebo is acting as a hardware_interface. On the left-hand side, click the "Insert" tab. Add the following lines below the Lidar data publisher node. That's a lot of interaction with the hardware that's not fun for someone who just wants to write some cool software. Start with Model Editor tutorials from Gazebo. This tutorial focuses on the flight of a simple quadrotor, but Starling can be used to operate many different types of robot. This will need to be installed as a separate package: Now, you can run the Node and publish the rotational joint. Use the hardware class Next i removed the "joint_state_publisher" from the bringup package launch files and added ros2_control When u launch this, it wont work. Looking through the code, it is the gazebo_system.cpp file that implements the read/write and export_* functions. ROS2 on Pi 4 running ros2_control, direct connection to motor/ servo driver . in other words, Ignition is just a hardware to control and plugged in to ros2_control. Discover ROS2 Tools and how to use them. ROS1 on Pi 4, perhaps running ros_control, connected to Arduino/ MCU via rosserial nodes . Essentially ROS defines an interface between which compatible programs can communicate and interact with each other. see std_srvs/srv/SetBool.srv). Traditionally, you would have to manually serialise (compress) and stream the image over a port which the other two programs could read from. Note that two controllers that are using the same resource can be loaded at the same time, but can't be running at the same time. If you're using a Raspberry Pi with ROS2 as one of the machines, make sure you have correctly installed ROS2 on your Pi. There are also two processes which require, as inputs, that camera image. Ros_control is a package that helps with controller implementation as well as hardware abstraction. Getting Started With ROS 2 The elaborate steps for ROS 2 installation using sources or binaries can be found from the official ROS website. The tutorials are a collection of step-by-step instructions meant to steadily build skills in ROS 2. Create the ros1_bridge workspace. Arduino will then convert those velocity commands into output PWM signals to drive the motors of a two-wheeled differential robot like the one on this post. Interestingly, if you put two topics together, you get some notion of two way communication. Once in guided or offboard mode, the autopilot expects communications using the MAVLINK protocol. Open a new terminal window, and go to the home directory. Ros 2 Grpah (picture from Ros2 wiki) Node. This is a companion guide to the ROS 2 tutorials. In a ROS2-sourced terminal: ros2 run isaac_tutorials ros2_publisher.py. We know our joint is a revolute joint so lets assume it is going to mimic an Arduino Servo. Now, you can verify the joints location is published: so far you can see some data describing our robot but you havent yet visualized it. node --in--> C[Vision] But if the port changes or, say, the camera changes, lots of things have to be reconfigured. I would prefer the first option, because this is way easier to maintain with xacro. we can refer to the implementation as below. Open a new terminal window, and type: Now, lets add the rqt_robot_steering node to our mother launch file named jetson_nanobot.launch. Your robot should move accordingly. However, manually controlling the individual thrusts of each motor in order to move the UAV is incredibly difficult, most would say its impossible even. For the autpilot, it automatically sets up a connection and translates higher level ROS commands into MAVLINK commands. With ROS, you can completely abstract the hardware from software, and instead interact with an API that gives access to that data. To understand what ROS is, we should understand why ROS exists in the first place. However, you dont see the same on the /tf topic. For those interested, ROS2 follows a much more decentralised paradigm, and does not require a central ROSnode as it uses the distributed DDS communication protocol for its internal communication. So the controller manager knows exactly which controller has requested which resources. IgnitionROS2ControlPlugin is one of the Ignition Gazebo System plugin library. In our example, some of the topics might be: Then, we see that there are two avenues of communication created from these node inputs and outputs. Because the control subsystem should act the same way for a simulated robot and a real world robot, there should be an interface implemented by both sides. this will: I dont have access to a more sophisticated robot design tool but you can follow the Gazebo tutorial above and use Gazebos Model Editor to build a simple robot that will rotate in a circle. When the controller manager runs, the controllers will read from the pos, vel and eff variables in your robot, and the controller will write the desired command into the cmd variable. CHANGELOG. You might see a warning about low memory. The API between your code and the ROS2 control ecosystem is are the following member variables of the class: In the copied code, most of the code ends up writing a value of zero. This program will be built from single file named hello_world_node.cpp with the following contents: You should try and run this tutorial to make sure your environment is set up correctly: While the Simulation side of the picture might seem like an easier place to start and visualize, starting on the Reality side will illustrate where YOUR robot specific code will be written. It shouldnt matter which joint connecting the cylinder to a rectangle is a Revolute joint but I only chose to make one of them Revolute and made the other Fixed. You can place it wherever you want by clicking inside the environment. ROS stands for the Robot Operating System, yet it isn't an actual operating system. 1.1.9, Azure Kubernetes Service (AKS) on Azure Arc, $ ros2 pkg create --build-type ament_cmake my_rotate_bot, ros2 launch my_rotate_bot robot_state_publisher.launch.py, sudo apt-get install ros-foxy-joint-state-publisher, ros2 run joint_state_publisher joint_state_publisher ./src/my_rotate_bot/urdf/model.urdf, sudo apt-get install ros-foxy-joint-state-publisher-gui, ros2 run joint_state_publisher_gui joint_state_publisher_gui, ros2_control_node-2] terminate called after throwing an instance of 'std::runtime_error', , [ros2_control_node-1] terminate called after throwing an instance of 'pluginlib::LibraryLoadException', [ros2_control_node-1] terminate called after throwing an instance of 'std::runtime_error', $ ros2 launch my_rotate_bot robot_state_publisher.launch.py, , http://gazebosim.org/tutorials?tut=ros_control&cat=connect_ros, Detailing some components on the ROS2/RVIZ2 side, Replicating and explaining interactions between ROS2 + Gazebo + ros2_control (which can be used later for motion planning), Introduce you to some of the menus and configuration of a Gazebo Model, Illustrate the interaction of Link and Joints, Introduce the built-in Model Editor which will help create a SDF representation of a robot, XML file describing the hardware interface plugin (, robot_state_publisher is started and publishes the URDF to a topic, spawn_entity reads the URDF from the robot description topic and instructs Gazebo to instantiate this robot. Are you using ROS 2 (Dashing/Foxy/Rolling)? The section above helped show how you can use the joint_state_publisher_gui to control a robot in RViz. This file contains various high-level ros2_control controllers. SVL Simulator release 2021.2.2 or later; Linux operating system (preferably Ubuntu 18.04 or later) For a guide to setting up and using the simulator see the Getting Started guide.. C -->|out| node1[drone/recognised_objects] Create a urdf/ directory with your URDF file created from the previous step. In the first shell start RViz and wait for everything to finish loading: roslaunch panda_moveit_config demo. These then allow the remote control flight of the vehicle from a transmitter in your pilots hands, or via messages sent by the companion computer. One of the most common will be the Quadrotor which has 4 motors in an 'X' pattern. A simultaneous localisation and mapping system. ROS is essentially a framework that sits on top of an operating system which defines how particular ROS compatible programs communicate and share data with each other. Prerequisites top #. Copyright 2022 University of Bristol Flight Laboratory, graph LR However, now it has also developed into a protocol for commanding the autopilot from an onboard companion computer over a USB or serial connection too. 80 is really the ideal speed when you want to map an indoor environment (found through testing). It is somehow possible to use type="actuator" with gazebo_ros2_control. Just because you told a joint to move from 20 degrees to 90 degrees doesnt mean it is in its desired position! Use Robot Operating System 2 with both Python and Cpp. IgnitionSystem possesses IgnitionSystemInterface inherited from hardware_interface::SystemInterface. I also added a tag in my URDF which is correctly interpreted by the GUI. The write call can be thought of as an Actuator and the read call can be thought of as the Encoder. U can call "ros2 control list_hardware_interfaces" to see your hardware and notice all joint are unclaimed U can call "ros2 control list_controllers" to see there are no active controllers For example, it is neccesary to send a number of specific messages in order to receive individual data streams on vehicle status, location, global location and so on. style node fill:#f9f,stroke:#333,stroke-width:4px, graph LR At a high level, youll have to update the following files: Inspecting the header file, you can see the functions youll have to implement: After copying the CPP class file, you can inspect the hardware interface code in more detail. ROS2 Nodes, Topics, Services, Parameters, Launch Files, and much more. The ROS 2 package gazebo_ros_pkgs is a metapackage which contains the following packages: gazebo_dev: Provides a cmake configuration for the default version of Gazebo for the ROS distribution. The first step is writing the simplest C++ program that can interact with ros2 in a meaningful way. By the end you should have a brief understanding of how a UAV is controlled, how Starling treats a UAV and why and how we use ROS2 to communicate with a UAV. We know that our robot will exist in two environments: physical and virtual. Gazebo ros_control Interfaces. After this code compiles, swap out the test_system plugin with your robot-specific plugin: If youve copied and modified the code mentioned above, you should see the same output from the ros2_control_demos tutorial: The read and write functions are probably the most robot-specific code youll end up writing/replacing. A wheel and an axel may be attached together by a revolute joint. Youll also need to change the values of the points to radians as this robot has a Revolute joint instead of Prismatic. The next part of this blog post will be implementing/explaining the code already written in the existing ros2_control_demos tutorial. A service is made of a Request topic and a Response topic, but functions as a single communication type to the user. For quick solutions to more specific questions, see the How-to Guides. As we are now utilising ROS, this allows us to make the most of the full ROS ecosystem in developing UAV applications. Often they have safety elements build in which mean that the autopilot must receive instructions at a certain rate (2Hz) otherwise the autopilot will switch to loiter or land. There are some interesting changes between ROS1 and ROS2, but the core elements described above remain identical. Creating a ROS Package For more, please check the documentation. A[Camera] -->|out| node[drone/camera] Here are some of the topics we cover in the ROS2 tutorials below (non exhaustive list): Core concepts (packages, nodes, topics, services, parameters, etc.) Let us consider the programs we have as ROS nodes, i.e. But that data is only sent across the network if a different nodes also subscribes to the same topic. or you can register the MyRobot class itself: So the custom interfaces could be nothing more than adding any number of function calls to your robot class, and registering the robot class itself. ROS2 Nodes, Topics, Services, Parameters, Launch Files, and much more. Installing ROS 2 top #. So how is this code actually controlling your robot? Start by creating a new ament_cmake package in your workspace: (Note: this blog post requires CPP code and will not work in Python). (Note: the read call isnt really an Encoder because most Servo code uses a sleep following a write to wait for the servo to reach its desired position. This will include links to other tutorials which are necessary to build knowledge in specific areas yet are required in unison to understand the whole development process. In the same way, there are numerous other functionalities that an autopilot can cover. However, we need a programmatic way to access and control our robot for things like motion planners to use. This project has a number of real-world applications: This tutorial here shows you how to set up the motors. I will use the rqt_robot_steering interface that I used in this tutorial to publish Twist messages to the cmd_vel topic. SOLIDWORKS seems to be the most common for professional use cases. Local Integration testing with KinD Digital Double, 10. The ROS2 control ecosystem needs a URDF file. Multi-UAV flight with Kubernetes for container deployment, 9. If our robot can satisfy these sorts of commands, it should be possible to layer on even high level controllers for sensing, grasping, and moving objects. Pretty much anything you'd like to use for your specific robot. Youll need the robot_state_publisher from before for the /robot_description topic and also the gazebo + spawn_entity nodes: To instantiate Gazebos controller_manager and to provide the extra controllers that the controller_manager should start, add the following to the your URDF: If you want to checkpoint your progress, you can try launching the Gazebo launch file. It's your job to make sure the pos, vel and eff variables always have the latest joint state available, and you also need to make sure that whatever is written into the cmd variable gets executed by the robot. The code would look like this: That's it! Note that everything happens asyncronously and in parallel, when a node subscribes or sends a requests, it doesn't know when the response will arrive. Next, create a robot_state_publisher_launch.py file which will read and parse the URDF file and create a robot_state_publisher Node: Youll need to add install directive to the CMakeLists.txt file. Id love to hear from you! How to implement ros_control for a custom robot . In the the write function, you code reads out of the hw_commands_ array. When you make your robot support one or more of the standard interfaces, you will be able to take advantage of a large library of controllers that work on the standard interfaces. The gazebo_ros2_control_demos package is great because it shows how other systems could issues commands that your robot will respond to. This blog post serves mainly to introduce how the components interact with one another. In this tutorial we'll look at how ros2_control works, and how to use it in a Gazebo simulation, and then in the next tutorial we'll get it up and running on a real robot so we can drive it around. You can use the standard interfaces (and re-use the standard controllers) for the features of your robot that are standard. The autopilot combines data from small on-board MEMs gyroscopes and accelerometers (the same as those found in smart phones) to maintain an accurate estimate of its orientation and position. Add Joint States in Extension . The two included in the existing examples are: Youve already seen the JointStateController earlier in this post. On the left panel, click " Mobile Warehouse Robot ". The concepts introduced here give you the necessary foundation to use ROS products and begin developing your own robots. Setting up Unity for Oculus GO development, Decentr Firefox and Chrome Extension Release Notes for Build node --in--> D[SLAM] Traditionally this is for pilots to change between different controller layouts for different applications. 16-3 Date: Sat, 21 Apr 2018 07:35:26 +0000 Source: ros -geometry2 Source-Version: 0. If your robot needs a different scheme, you can easily create your own, by implementing one single function: The input to the checkForConflict method is a list of controller info objects. README No README found. Wiki: ros_control/Tutorials/Create your own hardware interface (last edited 2020-02-17 19:31:03 by AndyZe), Except where otherwise noted, the ROS wiki is licensed under the, Loading and starting controllers through service calls. Design can be done in 3d modeling environment. I will continue with. After you are done building, youll have to save and export the mode as an SDF file. from ros2_control perspective, Ignition is one of System hardware object. It is fairly straightforward and installation using binaries is recommended for default path and symlink configuration. This is because robot_state_publisher needs to read our joint states before publishing /tf data. Ansible's Annoyance - I would implement it this way! When a packet is received the subscriber can then run a method - this method is usually known as a callback, but that will be covered in a later tutorial. If you open a new terminal window, and type the following command, you will be able to see the active topics. To make it more concrete, imagine that on your drone you have a camera. In this tutorial we will see how to install ros_control, extend the URDF description with position controllers for every joint and parametrize them with a configuration file. Type the following command: gazebo. Being able to control a robots velocity remotely is useful for a number of use cases, such as building a map, exploring an unknown environment, or getting to hard-to-reach environments. Maybe youll use a 3d printer to print each link or maybe youll use wood or aluminum extrusions. Two wooden links might be attached with a nail and are a static joint. In your main(), you'd then do something like this: As the image above suggests, you're of course not limited to inheriting from only one single interface. These include (non exhaustively): aerial photography/video, carrying cargo, racing, search and surveying etc. Also, I also cant figure out a bug with the gazebo_ros2_control plugin fails to find symbols from the hardware_interface package (though the symbol is definitely in both shared object files). This package provides a Gazebo plugin which instantiates a ros_control controller manager and connects it to a Gazebo model. Similarly if it wants to rotate forward it speeds up the back two motors and slows down the front two. Navigating the ROS Filesystem This tutorial introduces ROS filesystem concepts, and covers using the roscd, rosls, and rospack commandline tools. It's messy, doesn't have consistent behavior, and there's no ctrl-z in sight. Java Learning Notes_140713 (Exception Handling), Implement custom optimization algorithms in TensorFlow/Keras, Using a 3D Printer (Flashforge Adventurer3), Boostnote Theme Design Quick Reference Table. This tutorial gives a brief overview and background on UAV Control and ROS2. After you have visualized your robot, you can also use a GUI to change the joint data via the joint_state_publisher_gui Node. How to Publish LIDAR Data Using a ROS Launch File, How to Create an Initial Pose and Goal Publisher in ROS, You have installed the software that enables ROS to speak with an Arduino, ticks per 1 full revolution of a wheel is 620, How to Install Ubuntu and VirtualBox on a Windows PC, How to Display the Path to a ROS 2 Package, How To Display Launch Arguments for a Launch File in ROS2, Getting Started With OpenCV in ROS 2 Galactic (Python), Connect Your Built-in Webcam to Ubuntu 20.04 on a VirtualBox, Mapping of Underground Mines, Caves, and Hard-to-Reach Environments, We will continue from the launch file I worked on, You have a robot (optional). Use Robot Operating System 2 with both Python and Cpp. Combining different thrusts on different rotors allows the vehicle to move in free space with 6 degrees of freedom. This tutorial will try to explain in a simple way how you can manage to have CoppeliaSim ROS 2 enabled, based on ROS 2 Foxy.. First of all you should make sure that you have gone through the official ROS 2 tutorials, at least the beginner section.Then, we assume that you have the latest Ubuntu running, that ROS is installed, and that the workspace folders are set. Both these firmwares are very extensive and cover numerous use cases. Finally, youll need to fabricate your robot. to publish a joint state, you can use the joint_state_publisher node. This will also give us a place to create a ros2 control package later in this article. I ended up copying the gazebo_ros2_tutorial URDF and copy/pasted the following values: pose, size, and radius/length. These numbers might be different if you use other motors. Section 3: Installation. motor speed) to 80 and the maximum to 100. Your encoders should answer this question and return this result by writing to the hw_states_ array. To test out the ROS2 bridge, use the provided python script to publish joint commands to the robot. Flying your controllers in the Flying Arena, 2. ROS1 ROS2 migration. D -->|out| node2[drone/slam_position] The number of ticks per 1 full revolution of a wheel is 620. The functions above are designed to give the controller manager (and the controllers inside the controller manager) access to the joint state of your robot, and to the commands of your robot. This is what ros2_control is useful for. This can also be done through the MAVROS node too. This page walks you through the steps to set up a new robot to work with the controller manager. rostopic list. Unfortunately, I wasnt able to find a way to convert SDF files (which are meant to describe more than just a robot) to URDF. Discover ROS2 Tools and how to use them. Don't be shy! Tips and best practices to write cleaner and more efficient code. For example, the PositionJointInterface uses the joint names as resources. This package is a part of the ros2_control framework. Language: English, Japanese. The ros2_control is a framework for (real-time) control of robots using ( ROS 2 ). Resources are specified in the hardware interface. I am new to writing CPP code and didnt follow any of the ROS2 CPP tutorials other than a package for Message files. Each topic has a particular name which can be referred to. For example, let's say you have to debug a faulty sensor. But what if your robot has some features that are not supported by the standard interfaces? Move the slider on the rqt_robot_steering GUI, and watch the /cmd_vel velocity commands change accordingly. There are two terms that help us make sense of joint control: Actuators: the components conducting the movement, Encoders: hardware that can answer the where are my joints? question. You may use a pre-built robot but chances are youll need to fabricate something that makes your robot unique. A quadcopter can control its roll and pitch rotation by speeding up two motors on one side and slowing down the other two. There is no universal controller design of converting from user inputs to motor thrust. Important Ensure that the use_sim_time ROS2 param is set to true after running the RViz2 node. Sample commands are based on the ROS 2 Foxy distribution. However over the years they realised that there are a number of important features which are missing - and adding all of these would simply break ROS1. You first have to take out the sensor from the enclosure, test the sensor thoroughly with a multi meter and various test cases, document its behavior, then examine the hardware -level code to ensure that there were no bugs, and so on. To do this, you could for example add a read() and a write() function to your robot class. The name of my program is motor_controller_diff_drive_2.ino. 2022 9to5Tutorial. Your robot could for example provide both the 'PositionJointInterface' and the 'VelocityJointInterface', and many more. You should see a warehouse robot. Click on your model to select it. Create a new launch file, controller_manager.launch.py, and have it read in the URDF similar to the previous part of this tutorial. style node fill:#f9f,stroke:#333,stroke-width:4px https://github.com/ignitionrobotics/ros_ign, https://github.com/ignitionrobotics/ign_ros2_control. In a ROS2-sourced terminal, open with the configuration provided using the command: ros2 run rviz2 rviz2 -d ros2_workspace/src/isaac_tutorials/rviz2/camera_lidar.rviz. Automatic mode which attempts to land the UAV, Navigates to setpoints sent to it by ground control or companion computer, Get's the current state and flight mode of the vehicle, Get the UAVs current coordinate position after sensor fusion, Get the UAVs current lat,long (if enabled), Send a target coordinate and orientation for the vehicle to fly to immediately, A service which sets the flight mode of the autopilot, A service which starts the data stream from the autopilot and sets its rate, A machine vision system for recognising objects. The closest thing I found was the sdformat_urdf package which shows some of the limitations when doing the conversions (like requiring only one robot in the SDF file). While the robot is moving, open a ROS2-sourced terminal and check the joint state rostopic by running: 7.3. this is ros2_control framework overview, as we can see user needs to develop Controller, Interface and Plugin such as Sensor, System and Actuator to integrate with ros2_control. Are these the most realistic alternatives for what OP, and possibly myself, wants to achieve? Horizontal motion is accomplished by temporarily speeding up/slowing down some motors so that the vehicle is leaning in the direction of desired travel and increasing the overall thrust of all motors so the vehicle shoots forward. in this plugin, it will read URDF from parameter server and instantiate ros2_control ControllerManager with parameters. This requires installing the package first: Using the GUI, you can change the position of the joint as the GUI relays the joint state information to the joint_state_publisher to publish on the /joint_state_topic. Generally the more the vehicle leans, the faster it travels. Core ROS Tutorials Beginner Level Installing and Configuring Your ROS Environment This tutorial walks you through installing ROS and setting up the ROS environment on your computer. The standard interfaces are pretty awesome if you don't want to write a whole new set of controllers for your robot, and you want to take advantage of the libraries of existing controllers. They think that the hardware and software are so tightly coupled, you have to know both in depth to build anything useful. 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