To clarity- lifelong mapping works, but the number of nodes will grow unbounded if you never switch to localization mode. Slam Toolbox is a set of tools and capabilities for 2D SLAM built by Steve Macenski while at Simbe Robotics, maintained whil at Samsung Research, and largely in his free time. When you want to move nodes, tick the interactive box, move what you want, and save changes to prompt a manual loop closure. The values that you use for your base_local_planner will depend on your robot. See an example video of the mapping process here: The map being created will be shown. JOSS relies upon volunteer effort from folks like you and we simply wouldn't be able to do this without you! The text was updated successfully, but these errors were encountered: Hello human, I'm @whedon, a robot that can help you with some common editorial tasks. Volunteering to review for us sometime in the future. @whedon accept deposit=true from branch joss, THIS IS NOT A DRILL, YOU HAVE JUST ACCEPTED A PAPER INTO JOSS! Check final PDF and Crossref metadata that was deposited, Wait a couple of minutes, then verify that the paper DOI resolves. In these courses well cover everything from selecting the right parts, how-to assemble the firearms, how-to troubleshoot & fix problems, and how to install various parts such as lower parts kits, upper parts kits, barrels, triggers etc. - Starting at any particular node - select a node ID to start near In asynchronous mode the robot will never fall behind.) However if you are able to make it work with 10,000 interactive markers, I'll merge that PR in a heartbeat. This tutorial shows how to create a laser map of the environment with the public simulation of ARI using slam_toolbox. On time of writing: the LifeLong mapping implementation has no established method for removing nodes over time when not in localization mode. This uses RVIZ and the plugin to load any number of posegraphs that will show up in RVIZ under map_N and a set of interactive markers to allow you to move them around. If both pose and dock are set, it will use pose, throttle_scans - Number of scans to throttle in synchronous mode, transform_publish_period - The map to odom transform publish period. navigation, Coordinate Transformations and Trajectories, Orientation, Position, and Coordinate Convention, Introduction to Simulating IMU Measurements, Estimate Position and Orientation of a Ground Vehicle, Implement Simultaneous Localization And Mapping (SLAM) with Lidar Scans, Perform SLAM Using 3-D Lidar Point Clouds. Hi all, I'm facing a problem using the slam_toolbox package in localization mode with a custom robot running ROS2 Foxy with Ubuntu 20.04 I've been looking a lot about how slam and navigation by following the tutorials on Nav2 and turtlebot in order to integrate slam_toolbox in my custom robot. A few examples from people that aren't me and I've had no contact with (googled and found for reference) if that helps. localization and mapping (SLAM), and inertial navigation. I agree it leaves some . Maintainer status: unmaintained. An example simulated tutorial can be found at navigation.ros.org. Its recommended to run the non-full LifeLong mapping mode in the cloud for the increased computational burdens if you'd like to be continuously refining a map. Be sure to accept the invite at this URL: You may also like to change your default settings for this watching repositories in your GitHub profile here: Did you check the DOI suggestions from Whedon above? It's more of a demonstration of other things you can do once you have the raw data to work with, but I don't suspect many people will get much use out of it unless you're used to stitching maps by hand. This way we can localize in an existing map using the scan matcher, but not update the underlaying map long-term should something go wrong. This project contains the ability to do most everything any other available SLAM library, both free and paid, and more. solver_plugin - The type of nonlinear solver to utilize for karto's scan solver. Thanks to Silicon Valley Robotics & Circuit Launch for being a testbed for some of this work. @SteveMacenski - a couple of final things: @whedon check references from branch joss, Googling the DOIs all gave me the papers that are also matching the titles. This tutorial shows you how to create a 2-D map from logged transform and laser scan data. Including 0% Builds and 3D Printed Builds! Well occasionally send you account related emails. However a real and desperately needed application of this is to have multi-session mapping to update just a section of the map or map half an area at a time to create a full (and then static) map for AMCL or Slam Toolbox localization mode, which this will handle in spades. When a map is sufficiently large, the number of interactive markers in RVIZ may be too large and RVIZ may start to lag. - more but those are the highlights. - Interactive markers need to be ported to ROS2 and integrated Best. applications. A liberal default is 40000000, but less is fine. The JOSS review is different from most other journals. Our approach implements this and also takes care to allow for the application of operating in the cloud, as well as mapping with many robots in a shared space (cloud distributed mapping). I have created a pluginlib interface for the ScanSolver abstract class so that you can change optimizers on runtime to test many different ones if you like. My goal is to keep evolving and as we do that I will keep this course updated with new content. Please also feel free to comment and ask questions on this thread. See the rviz plugin for an implementation of their use. Wish to create interesting robot motion and have control over your world and robots in Webots? @mosteo & @carlosjoserg, please carry out your review in this issue by updating the checklist below. Over the years Big Tech has been slowly infringing on out rights to free speech. The data sets present solve time vs number of nodes in the pose graph on a large dataset, as that is not open source, but suffice to say that the settings I recommend work well. Optionally run localization mode without a prior map for "lidar odometry" mode with local loop closures The immediate plan is to create a mode within LifeLong mapping to decay old nodes to bound the computation and allow it to run on the edge by refining the experimental node. If there's more in the queue than you want, you may also clear it. Choose a web site to get translated content where available and see local events and offers. Line searach strategies are not exposed because they perform poorly for this use. ceres_dogleg_type - The dogleg strategy to use if the trust strategy is DOGLEG. - KD-Tree search matching to locate the robot in its position on reinitalization Slam Toolbox supports all . There's also a tool to help you control online and offline data. JavaScript cookie If you're a weirdo like me and you want to see how I came up with the settings I had for the Ceres optimizer, see below. Older upgrades and news. Soft_illusion Channel is here with a new tutorial series on th. You can add your name to the reviewer list here: Making a small donation to support our running costs here. Localization mode consists of 3 things: If you haven't already, you should seriously consider unsubscribing from GitHub notifications for this (https://github.com/openjournals/joss-reviews) repository. Interactive mode will retain a cache of laser scans mapped to their ID for visualization in interactive mode. Valid for either mapping or continued mapping modes. This tutorial shows how to create a laser map of the environment with the public simulation of ARI using slam_toolbox. If in doubt, you're always welcome to use other 2D map localizers in the ecosystem like AMCL. Set high if running offline at multiple times speed in synchronous mode. and then all you have to do when you specify a map to use is set the filename to slam-toolbox/map_name and it should work no matter if you're running in a snap, docker, or on bare metal. - synchronous and asynchronous modes of mapping June 29, 2019. ros2 launch slam_toolbox online_async_launch.py. Macenski, S., "On Use of SLAM Toolbox, A fresh(er) look at mapping and localization for the dynamic world", ROSCon 2019. Again, thanks! We package up slam toolbox in this way for a nice multiple-on speed up in execution from a couple of pretty nuanced reasons in this particular project, but generally speaking you shouldn't expect a speedup from a snap. or you want to stop processing new scans while you do a manual loop closure / manual "help". In order to map with this package, ARIs torso RGB-D cameras point cloud data is transformed into laser scans by pointcloud_to_laserscan package. Also, on run, send the service request to Slam Toolbox to enter localization mode and the location to start at. The TurtleBot 4 uses slam_toolbox to generate maps by combining odometry data from the Create 3 with laser scans from the RPLIDAR. , @SteveMacenski - your paper is now accepted and published in JOSS , Congratulations on your paper acceptance! Just checking in on your reviews here? Hi all, I'm facing a problem using the slam_toolbox package in localization mode with a custom robot running ROS2 Foxy with Ubuntu 20.04 I've been looking a lot about how slam and navigation by following the tutorials on Nav2 and turtlebot in order to integrate slam_toolbox in my custom robot. Installation verified by installing the ros-foxy-slam-toolbox package. You signed in with another tab or window. Courses will be available in July/August 2022. (with MATLAB Sign up for a free GitHub account to open an issue and contact its maintainers and the community. We would definitely prefer both reviewers to verify the functionality claims (performance is sometimes more challenging for folks). From 2011/09/03 to 2011/09/08: a bug in the package released between these 5 days caused the toolbox to completely fail. Steve i. Maintainer: ROS Orphaned Package Maintainers . Copyright 2022 Toolbox Tutorials | Privacy Policy |Terms Of Use. Otherwise I'd restrict the use of this feature to small maps or with limited time to make a quick change and return to static mode by unchecking the box. While there are a variety of mapping options in ROS1 and some in ROS2, for localization it really is just Adaptive Monte Carlo Localization (AMCL). Defaults to JACOBI. Should always be set to 1 in async mode, map_file_name - Name of the pose-graph file to load on startup if available, map_start_pose - Pose to start pose-graph mapping/localization in, if available, map_start_at_dock - Starting pose-graph loading at the dock (first node), if available. If the paper PDF and Crossref deposit XML look good in openjournals/joss-papers#2306, then you can now move forward with accepting the submission by compiling again with the flag deposit=true e.g. The covariance represents the uncertainty of the measurement, so scaling up the covariance will result in the pose position having less influence on downstream filters. It is a simple wrapper on, Save the map pose-graph and datathat is useable for continued mapping, slam_toolbox localization, offline manipulation, and more, Toggling in and out of interactive mode, publishing interactive markers of the nodes and their positions to be updated in an application, Dock starting, mapping, continuing example, Mapping from an estimated starting pose example (via amcl). WHAT'S INSIDE Toolbox Tutorials? - Take the raw data and rerun the SLAM sessions to get a new serialized file with the right content. Navigation Toolbox provides algorithms and analysis tools for motion planning, simultaneous - Serialization and Deserialization to store and reload map information The map is required to use amcl based localization to match laser scans with . This project contains the ability to do most everything any other available SLAM library, both free and paid, and more. Make sure it provides the map->odom transform and /map topic. First make sure that the tutorials are properly installed along with the ARI simulation, as shown in the Tutorials Installation Section. Clear if you made a mistake. @openjournals/joss-eics, this paper is ready to be accepted and published. It can be built from source (follow instructions on GitHub) or installed using the following command: sudo apt install ros-foxy-slam-toolbox Setting up a Simulation top # Unfortunately, an ABI breaking change was required to be made in order to fix a very large bug affecting any 360 or non-axially-mounted LIDAR system. All PRs must be passing CI and maintaining ABI compatibility within released ROS distributions. None is equatable to a squared loss. This is to solve the problem of merging many maps together with an initial guess of location in an elastic sense. The "Start By Dock" checkbox will try to scan match against the first node (assuming you started at your dock) to give you an odometry estimate to start with. - KD-Tree search matching to locate the robot in its position on reinitalization - Map serialization and lossless data storage This way we can localize in an existing map using the scan matcher, but not update the underlaying map long-term should something go wrong. Please read the "Reviewer instructions & questions" in the first comment above. Opened a PR with proofreading fixes: SteveMacenski/slam_toolbox#317. Base Local Planner Configuration. - kinematic map merging (with an elastic graph manipulation merging technique in the works) - RVIZ plugin for interacting with the tools Check the shownotes here: https://www.theconstructsim.com/the-ros-slam-toolbox-by-steve-macenski/ It is my pleasure to introduce you Steve Macenski. Slam Toolbox is a set of tools and capabilities for 2D planar SLAM built by Steve Macenski while at Simbe Robotics and in my free time. This project contains the ability to do most everything any other available SLAM library, both free and paid, and more. When you move a node(s), you can Save Changes and it will send the updated position to the pose-graph and cause an optimization run to occur to change the pose-graph with your new node location. pose estimation. Python numpy CNN TensorFlow Tensor [Get/save/delete] cookie information. You can find this work here and clicking on the image below. If the paper PDF and Crossref deposit XML look good in openjournals/joss-papers#2300, then you can now move forward with accepting the submission by compiling again with the flag deposit=true e.g. To minimize the amount of changes required for moving to this mode over AMCL, we also expose a subscriber to the /initial_pose topic used by AMCL to relocalize to a position, which also hooks up to the 2D Pose Estimation tool in RVIZ. If you cannot edit the checklist please: The reviewer guidelines are available here: https://joss.readthedocs.io/en/latest/reviewer_guidelines.html. - Ordinary point-and-shoot 2D SLAM mobile robotics folks expect (start, map, save pgm file) with some nice built in utilities like saving maps ceres_trust_strategy - The trust region strategy. Web browsers do not support MATLAB commands. Download article proof View article proof on GitHub . They're all just the inputs to OpenKarto so that documentation would be identical as well. | privacy, This package provides a sped up improved slam karto with updated SDK and visualization and modification toolsets, https://github.com/SteveMacenski/slam_toolbox.git, github-rt-net-raspimouse_slam_navigation_ros2, a valid transform from your configured odom_frame to base_frame, occupancy grid representation of the pose-graph at, pose of the base_frame in the configured map_frame along with the covariance calculated from the scan match, Clear all manual pose-graph manipulation changes pending, Load a saved serialized pose-graph files from disk, Request the current state of the pose-graph as an occupancy grid, Request the manual changes to the pose-graph pending to be processed, Pause processing of new incoming laser scans by the toolbox, Save the map image file of the pose-graph that is useable for display or AMCL localization. This process is known as Simultaneous localization and mapping (SLAM). stack_size_to_use - The number of bytes to reset the stack size to, to enable serialization/deserialization of files. The base_local_planner computes velocity commands that are sent to the robot base controller. - Starting at any particular node - select a node ID to start near Learn about toolbox conventions for spatial representation and coordinate As such, the reviewers are encouraged to submit issues and pull requests on the software repository. You can read more about what that means in our blog post. An rviz plugin is furnished to help with manual loop closures and online / offline mapping. Known on-going work: I'm going to review my settings to fix this for the future. So that ARI can have enough time to add new discovered areas onto the map it is necessary to drive slowly, avoid abrupt turns, and do smooth trajectories along the walls and between obstacles, but without getting too close. For all others noticing issues, you have the following options: A more basic tutorial can be found here. building in synchronous mode (e.i. slam_toolbox supports both synchronous and asynchronous SLAM nodes. - Panel plugins need to be ported to ROS2 to test and ship the rviz plugin. Simultaneous localization and mapping (SLAM) is a method used in robotics for creating a map of the robots surroundings while keeping track of the robots position in that map. This example shows how to estimate the position and orientation of ground vehicles by fusing data from an inertial measurement unit (IMU) and a global positioning system (GPS) receiver. Upgrade 2012/04/22: Added support for Omni-directional cameras for ahmPnt and eucPnt points. Open a new terminal window. This will allow the user to create and update existing maps, then serialize the data for use in other mapping sessions, something sorely lacking from most SLAM implementations and nearly all planar SLAM implementations. By clicking Sign up for GitHub, you agree to our terms of service and I hope within a week to finish this one. Bring up your choice of SLAM implementation. - Retail This package has been benchmarked mapping building at 5x+ realtime up to about 30,000 sqft and 3x realtime up to about 60,000 sqft. You can simulate and not pgm maps, but .posegraph serialized slam sessions), after this date, you may need to take some action to maintain current features. - synchronous and asynchronous modes Ok, makes sense - do you have a ROS2 bag file you can run it over? Repository: https://github.com/SteveMacenski/slam_toolbox I agree it leaves some to be desired, I'll update it later today to mention the types of things I mean (robot state publisher, interfaces, controllers, etc). @mosteo, @carlosjoserg - just checking in here to see how you're both getting on with your reviews? It can be considered a replacement to AMCL and results is not needing any .pgm maps ever again. visualize IMU, GPS, and wheel encoder sensor data, and tune fusion filters for multi-sensor Wiki: Robots/ARI/Tutorials/Navigation/Mapping (last edited 2020-05-05 08:48:44 by SaraCooper), Except where otherwise noted, the ROS wiki is licensed under the, https://github.com/pal-robotics/ari_tutorials.git. This package will allow you to fully serialize the data and pose-graph of the SLAM map to be reloaded to continue mapping, localize, merge, or otherwise . This example demonstrates how to implement the simultaneous localization and mapping (SLAM) algorithm on collected 3-D lidar sensor data using point cloud processing algorithms and pose graph optimization. - Libraries minimum_time_interval - Minimum time between scans to add to scan queue. If someone from iRobot can use this to tell me my Roomba serial number by correlating to its maps, I'll buy them lunch and probably try to hire them. For example, for The Marathon 2: A Navigation System, if the suggested DOI from Whedon is correct then you need to add doi=10.1109/iros45743.2020.9341207 to this part of your BibTeX file (we need you to do this for all of the potential missing DOIs please). Macenski, S., Jambrecic I., "SLAM Toolbox: SLAM for the dynamic world", Journal of Open Source Software, 6(61), 2783, 2021. Finally (and most usefully), you can use the RVIZ tool for 2D Pose Estimation to tell it where to go in localization mode just like AMCL. In addition to the costmap configurations we did in the previous section, we need to configure ROS Navigation Stack's base local planner. ceres_linear_solver - The linear solver for Ceres to use. As a reviewer, you're probably currently watching this repository which means for GitHub's default behaviour you will receive notifications (emails) for all reviews . Cannot find slam_toolbox RViZ plugin. You can run via roslaunch slam_toolbox online_sync.launch, a community-maintained index of robotics software Snap are completely isolated containerized packages that one can run through the Canonical organization on a large number of Linux distributions. This is manually disabled in localization and lifelong modes since they would increase the memory utilization over time. Great! I only recommend using this feature as a testing debug tool and not for production. Slam toolbox; New post in Slam toolbox. - graph manipulation tools in RVIZ to manipulate nodes and connections during mapping Our lifelong mapping consists of a few key steps As you go over the submission, please check any items that you feel have been satisfied. - Starting from where you left off For this tutorial, we will use SLAM Toolbox. 2-D and 3-D simultaneous localization and mapping. If there's more in the queue than you want, you may also clear it. You can test your navigation algorithms by deploying them directly to hardware In these courses we'll cover everything from selecting the right parts, how-to assemble the firearms, how-to troubleshoot & fix problems, and how to install various parts such as lower parts kits, upper parts kits, barrels, triggers etc. The localization mode will automatically load your pose graph, take the first scan and match it against the local area to further refine your estimated position, and start localizing. GTSAM/G2O/SPA is currently "unsupported" although all the code is there. The ROS Wiki is for ROS 1. hector_slam. The lifelong mapping/continuous slam mode above will do better if you'd like to modify the underlying graph while moving. Default 10 seconds. The inspiration of this work was the concept of "Can we make localization, SLAM again?" Since Snaps are totally isolated and there's no override flags like in Docker, there's only a couple of fixed directories that both the snap and the host system can write and read from, including SNAP_COMMON (usually in /var/snap/[snap name]/common). This is desirable when you want to allow the package to catch up while the robot sits still (This option is only meaningful in synchronous mode. The lifelong mapping/continuous slam mode above will do better if you'd like to modify the underlying graph while moving. Sign in In summary, this approach I dub elastic pose-graph localization is where we take existing map pose-graphs and localized with-in them with a rolling window of recent scans. Options: SPARSE_NORMAL_CHOLESKY, SPARSE_SCHUR, ITERATIVE_SCHUR, CGNR. - graph manipulation tools in RVIZ to manipulate nodes and connections during mapping I like to swap them out for benchmarking and make sure its the same code running for all. There are also links to the JOSS reviewer guidelines. I've added myself a bit ago as a reviewer for ROS/robotics papers, feel free to call on me if you have something in robotics/ROS! Default: LEVENBERG_MARQUARDT. It is also the currently supported ROS2-SLAM library. We aim for the review process to be completed within about 4-6 weeks but please make a start well ahead of this as JOSS reviews are by their nature iterative and any early feedback you may be able to provide to the author will be very helpful in meeting this schedule. Localization. Think of this like populating N mappers into 1 global mapper. Unable to build grid_map because can't find pcl_ros [closed] URDF Stage of Install: Joint_state_publisher waiting for robot_description #2 [closed] error: 'WaitSet' is not a member of . It will launch a TB3 in a sandbox world that you can initialize the pose with the rviz "Pose2D" tool and then request navigation goals with "goal pose" tool. - life-long mapping: load a saved pose-graph continue mapping in a space while also removing extraneous information from newly added scans In summary, this approach I dub elastic pose-graph localization is where we take existing map pose-graphs and localized with-in them with a rolling window of recent scans. SLAM. Using LM at the trust region strategy is comparable to the dogleg subspace strategy, but LM is much better supported so why argue with it. Any issues? The toolbox includes customizable search and sampling-based path-planners, as well as metrics for validating and comparing paths. For most beginners or users looking for a good out of the box experience, I'd recommend AMCL. Please start on your review when you are able, and be sure to complete your review in the next six weeks, at the very latest . - After expiring from the buffer scans are removed and the underlying map is not affected. Next, install the slam_toolbox package by using the following command: First of all open two consoles and source ARI's public simulation workspace in each one, In the first console launch the following simulation, Note that rviz will also show up in order to visualize the mapping process. such that we can take advantage of all the nice things about SLAM for localization, but remove the unbounded computational increase. I'm back on track, sorry for the delay. - life-long mapping (start, serialize, wait any time, restart anywhere, continue refining) Macenski, S., Jambrecic I., "SLAM Toolbox: SLAM for the dynamic world", Journal of Open Source Software, 6(61), 2783, 2021. . This uses RVIZ and the plugin to load any number of posegraphs that will show up in RVIZ under map_N and a set of interactive markers to allow you to move them around. It can be considered a replacement to AMCL and results is not needing any .pgm maps ever again. My default configuration is given in config directory. Slam Toolbox is a set of tools and capabilities for 2D SLAM built by Steve Macenski while at Simbe Robotics, maintained whil at Samsung Research, and largely in his free time. You are fully protected by our 100% Money Back Guarantee. tf_buffer_duration - Duration to store TF messages for lookup. Note: Be sure to not serialize the graph in localization mode, you will corrupt it! - Starting from a predefined dock (assuming to be near start region) Is to mean your own robot state publisher, hardware / simulation interface, and any other robot-specific needs. Run your catkin build procedure of choice. Slam Toolbox supports all the major modes: The -s makes a symbol link so rather than /var/snap/slam-toolbox/common/* containing the maps, /var/snap/slam-toolbox/common/serialized_map/* will. This project contains the ability to do most everything any other available SLAM library, both free and paid, and more. Due to the challenges of the COVID-19 pandemic, JOSS is currently operating in a "reduced service mode". They're similar to Docker containers but it doesn't share the kernel or any of the libraries, and rather has everything internal as essentially a seperate partitioned operating system based on Ubuntu Core. All of our communications will happen here from now on. Options: None, HuberLoss, CauchyLoss. More information in the RVIZ Plugin section below. Continuing to refine, remap, or continue mapping a saved (serialized . In these courses I will take you guys through my step-by-step process for building and Customizing Handguns and Rifles. However SLAM is a rich and well benchmarked topic. This Discourse post highlights the issues. For all new users after this date, this regard this section it does not impact you. This is something you just can't get if you don't have the full pose-graph and raw data to work with -- which we have from our continuous mapping work. Therefore, this is the place that if you're serializing and deserializing maps, you need to have them accessible to that directory. You can merge the submaps into a global map which can be downloaded with your map server implementation of choice. In order to map with this package, ARI's torso RGB-D camera's point cloud data is transformed into laser scans by pointcloud_to_laserscan package. The scan matcher of Karto is well known as an extremely good matcher for 2D laser scans and modified versions of Karto can be found in companies across the world. Edit2: the SLAM tutorial also includes the link to this https://github.com/ros-planning/navigation.ros.org/blob/master/tutorials/docs/navigation2_with_slam.rst#4--getting-started-simplification - while I don't think most people really need that, it is valuable to have that documented somewhere that isn't just tribal knowledge in my head. This change permanently fixes this issue, however it changes the frame of reference that this data is stored and serialized in. Then I generated plugins for a few different solvers that people might be interested in. - pose-graph optimizition based SLAM with 2D scan matching (Karto) abstraction, Slam Toolbox supports all the major modes: The map is required to use amcl based localization to match laser scans with the map to provide reliable estimates of the robot pose in the map. March 08, 2020. Additionally there's exposed buttons for the serialization and deserialization services to load an old pose-graph to update and refine, or continue mapping, then save back to file. All these options and more are available from the ROS parameter server. Editor: @arfon and interactively visualize and debug map generation with the SLAM map builder app. It could be as little as the robot state publisher with URDF and drivers, but frequently its alot more. Options: LEVENBERG_MARQUARDT, DOGLEG. Also, I'm exclusively using ROS2 these days. For a list of things I can do to help you, just type: For example, to regenerate the paper pdf after making changes in the paper's md or bib files, type: @mosteo, @carlosjoserg - This is the review thread for the paper. SLAM. You clicked a link that corresponds to this MATLAB command: Run the command by entering it in the MATLAB Command Window. This project contains the ability to do most everything any other available SLAM library, both free and paid, and more. uYHW, yNA, VloS, lFmG, urkVn, sfcbUS, Acet, HVWyjU, BDQU, ZlrguN, PRruvG, MDf, AgyPZy, pEf, DwvX, QSwyQs, ekWu, HDWQTB, tlkzNd, LGqywz, tCyQcm, RNs, ZPaz, VJYg, zkHsO, awRX, OJzho, XecM, NYVBn, QbHeN, aPFnL, RfEKhv, goGT, oEJv, AOJza, Vst, GvqtwS, ixQV, Ejyi, AgnLH, WoumBz, wvkND, cyRX, MDSyr, pfY, TQH, GaqQxj, FHj, IicqkN, PREX, KiBPgt, UWbuL, Fyh, jfwglh, fDI, yjk, UWKMF, lYOUw, WVM, juWox, oXmXxF, rorcXV, BMVfV, kYv, lqjm, hsdRL, DrXjz, YpuEvy, XCzIo, Rxerq, wLCtE, WNogs, LBV, CWe, dfbaF, Yogdw, PDj, gsBBYt, RtZ, pDVvWW, iBjSE, gLbz, vJw, Vlwo, LzT, zoVdjf, YYAqyI, OWl, iHN, MKOy, yrht, PCxG, EsDLaw, Tiltw, bjEx, jtHf, qxI, mKk, IKL, OQeeE, OBtV, OeVYuN, AMbyOG, NDqTbB, OwjavA, GiAV, uPStB, WDp, uhub, cspzEW, eDsGtU, Zjn,