Laser Scan Matcher for ROS2. They are both fun. src. Failed to load latest commit information. whether to publish scan matcher's estimation for the position of the base frame in the world frame as a, Maximum angular displacement between scans, in degrees, Maximum distance for a correspondence to be valid, Noise in the scan (m) (Not sure if changing this has any effect in the current implementation). IMU and (to some extent) wheel odometry inputs significantly improve convergence speed for rotational motion. We share the office with Trusthouse Insurance. OG nodes for Lidar publisher should matches the images below. Recent commits have higher weight than older ones. The video shows CSM tracking the position of a Hokuyo laser as it is being carried freely around a room. (m), Restart: displacement for restarting. When using sensor_msgs/PointCloud2, make sure they have no nan values. The transformation between the two is aggregated over time to calculate the position of the robot in the fixed frame. or you can contact us through our Facebook Page. C++. The attached bag file can be tested with. If 1, no two points in laser_sens can have the same correspondence, If 1, computes the covariance of ICP using the method, If 1, checks that find_correspondences_tricks gives the right answer, If 1, the field 'true_alpha' (or 'alpha') in the first scan is used to compute the incidence beta, and the factor (1/cos^2(beta)) used to weight the correspondence. add a comment. Pose and orientation of my robot is incorrect in Gazebo and RViz, robot position and minimal distance to an obsacle, Obtaining nav_msgs/Odometry from laser_scan_matcher, laser_scan_matcher combined with wheel odometry, Creative Commons Attribution Share Alike 3.0. Parameters for setting up keyframe-scan based registration. Saito , Author: Ivan Dryanovski, William Morris, Andrea Censi, Imu messages, used for theta prediction. Joint Control: Extension Python Scripting, 15. In a separate ROS2-sourced terminal , check that the associated rostopics exist with ros2 topic list. The other package that has been ported to ROS2 is slam_toolbox, which is basically slam_karto on steroids - the core scan matcher is the same, but everything else has been rewritten and upgraded. ROS2 Joint Control: Extension Python Scripting, 10. Copyright 2019-2022, NVIDIA. The number of mentions indicates the total number of mentions that we've tracked plus the number of user suggested alternatives. The addition of an IMU input is thus highly recommended. (Combined with amcl/hector slam). Fix odom velocity calculation and default QoS ( #5) 13 months ago. Next, make sure you have the necessary tools installed: You should see a result similar to the video below. Check out the ROS 2 Documentation. We appreciate the time and effort spent submitting bug reports. The package allows to scan match between consecutive sensor_msgs/LaserScan messages, and publish the estimated position of the laser as a geometry_msgs/Pose2D or a tf transform. Reinforcement Learning using Stable Baselines. The video shows tracking the position of a Hokuyo laser as it is being carried freely around a room. License. Installation of slam_toolbox is super easy: In the classical frame-to-frame laser odometry, each laser scan is compared to the previous scan. The laser_scan_matcher package is an incremental laser scan registration tool. In this launch file there is an instance of a node getting the executable as argument and it is setup the remappings attribute in order to remap from laser_scan to /dolly/laser_scan. Isaac Read Simulation Time: Use Simulation time to timestamp the /laser_scan messages. Check out the ROS 2 Documentation, An incremental laser scan matcher, using Andrea Censi's Canonical Scan Matcher implementation. No license specified. (I had seen that package many times already, but thought it would be too hard to apply to my robot.) On Playback Tick Node: Producing a tick when simulation is Playing. The keyframe scan is updated after the robot moves a certain distance. Only used if. Training Pose Estimation Model with Synthetic Data, 9. Install modified version of csmlib; Topics Inside the RawUSDProperties tab for the lidar prim, set the maxRange to 25. AlexKaravaev Merge pull request #8 from Adum888/patch-1. Doesn't just seem like it. You can run the canonical_scan_matcher on a pre-recorded bag file that comes with the package. (Combined with amcl/hector slam). Zero out any displacement in the Transform fields inside the Property tab. The package is intended to be used without any odometry . Tap to call tap to contact Contact Us; 877-699-3766; What is Zerona? The package is intended to be used without any odometry estimation provided by other sensors. The laser_scan_matcher package is an incremental laser scan registration tool. Alternatively, an estimation for x, y, and theta can optionally be provided to improve accuracy, in the form of a tf transform. Nothing makes me feel better than new co-workers thinking Im 10 years younger than I actually amall thanks to Keeley! Press Play to start ticking the graph and the physics simulation.. Alpha-beta tracking can lead to a significant speed up when the performance of the scan matcher is stable, but might result in weird behavior for highly dynamic environments or environments with poor features. Are you already using a localisation / sensor fusion node? This way the lidar will ignore anything thats beyond 25 meters. Keeping them at default levels should reduce drift while robot is stationary. The required topic is vel. 3.2.4. The ROS Wiki is for ROS 1. The package can be used without any odometry estimation provided by other sensors. Did you solve you problem with laser scan matcher ? rosrun laser_scan_matcher laser_scan_matcher_node _fixed_frame:=odom _base_frame:=laser_frame. 2) Choose the percentile according to. Maintainer status: maintained; Maintainer: Ivan Dryanovski <ccnyroboticslab AT gmail DOT com>, Carlos <cjaramillo AT gc.cuny DOT edu> . Most Recent Commit. This will prevent the lidar reporting a hit everywhere in the room because of the walls. Constant velocity model: Assumes the robot moved based on an estimate of the robot's velocity. For inputs:LidarPrim, add target to point to the Lidar sensor we just added at /World/turtlebot3_burger/base_scan/Lidar. See the web site for more about CSM. Whether youre interested in elegant eyelash extensions or want the dramatic improvements a set of microdermabrasion sessions can offer, call us today to schedule your consultation with the experts. The velocity estimate can be obtained from an external sensor, or by derivating and filtering the output of the scan matcher itself. Wed love to schedule an appointment with you. /laser_scan should be listed in addition to /rosout and /parameter_events. I got [ INFO] []: Starting LaserScanMatcher what should be the next step? If 1, use smart tricks for finding correspondences (see paper). First, make sure you have the scan_tools stack downloaded and installed by following the instruction instructions. Thus, if the robot is standing still, the keyframe scan will not change, and the pose will remain more drift free. I want to prevent this jumping and want the position to continue from the wheel odometry, untill laser_scan_matcher finds the correct position again. ros2_laser_scan_matcher is a C++ repository. What angle the fixed frame needs to move before updating the keyframe scan (in radians). Stars. This transform would typically be published by an odometry system. Two drivers are available: laser_scan_matcher_nodelet and laser_scan_matcher_node. This way I have a lot of options to calculate my odometry and robot pose. The pose of the base frame, in some fixed (world) frame. Only provided when. chaiein ( 2014-11-26 07:24:38 -0600) edit. For an example of how to use a simple filter to achieve this, check out Alpha-beta tracking for scan matching predictions. Once the lidar sensor is in place, we can add the corresponding OG nodes to stream the detection data to a Rostopic. whether to publish scan matcher's estimation for the position of the base frame in the world frame as a transform. Ported to ros2 version of laser-scan-matcher by scan_tools. The lidar prim should now be overlapping with the scanning unit of the robot. If 1, use smart tricks for finding correspondences (see paper). 1. Interfacing with Nvidia Isaac ROS GEMs, 5. Contribute to flixz02/ros2_laser_scan_matcher_humble development by creating an account on GitHub. whether to publish scan matcher's estimation for the position of the base frame in the world frame as a, Maximum distance for a correspondence to be valid, Maximum angular displacement between scans, in degrees, Percentage of correspondences to consider: if 0.90, always discard the top 10% of correspondences with more error, Noise in the scan (m) (Not sure if changing this has any effect in the current implementation). Take a look at our vendor database to find laser tag facilities near Hermitage. The laser_scan_matcher can operate using sensor_msgs/LaserScan messages or sensor_msgs/PointCloud2 messages. Using the default values, the keyframe is updated when the sensor moves 10 cm or 10 degrees. The package allows to scan match between consecutive sensor_msgs/LaserScan messages, and publish the estimated position of the laser as a geometry_msgs/Pose2D or a tf transform. Please start posting anonymously - your entry will be published after you log in or create a new account. Type /laser_scan into the Topic Name field. Go to Create -> Isaac -> Sensors -> Lidar -> Rotating. To visualize all the sensors at once inside RViz2, make sure the frameID of all the cameras and sensors all have the same ID name. 3 months ago. DIY 2D/3D Laser Scanner and Depth Camera with ROS Driver (VL53L1X ToF Ranging Sensor + 28BYJ-48 Stepper Motor + Arduino) most recent commit . Elite Laser & Skin Care has recently relocated to Hermitage, TN and is proud to offer the most effective, lasting beauty and laser skin treatments available for our customers, all at extremely competitive prices. The package allows to scan match between consecutive sensor_msgs/LaserScan messages, and publish the estimated position of the laser as a geometry_msgs/Pose2D or a tf transform. The canonical_scan_matcher package is a wrapper around Andrea Censi's Canonical Scan Matcher [1] implementation. Whether you're interested in elegant eyelash extensions or want the dramatic improvements a set of microdermabrasion sessions can offer, call us today to . Elite Laser & Skin Care in Hendersonville, TN is proud to offer the most effective, lasting beauty and laser skin treatments available for our customers, all at extremely competitive prices. Custom RL Example using Stable Baselines, 6. To visualize the laser scan data, open RViz2 by typing in rviz2 on the command line and enter. 2) Choose the percentile according to. The entire laser scan has to be loaded by the driver prior to being published. To place the synthetic lidar sensor at the same place as the robots lidar unit, drag the lidar prim under /World/turtlebot3_burger/base_scan. The required topic is odom. I love going in. The change in pose is calculated between the current laser scan and a "keyframe" scan. An incremental laser scan matcher, using Andrea Censi's Canonical Scan Matcher (CSM) implementation. Best regards Mark. Setting the tolerance for updating the keyframe can be achieved via the kf_dist_linear and kf_dist_angular parameters. Requires input on, Whether to use wheel odometry for the x-, y-, and theta prediction of the scan registration. Parameters when using sensor_msgs/PointCloud2 instead of sensor_msgs/LaserScan messages. Only needed when, the pose of the robot base in the world frame. most recent commit a month ago. I found out that the laser_scan_matcher package always gives the most accurate results, no matter how good I tune my wheel odometry. The odometry from the laser_scan_matcher serves via topic remapping also as an input for the robot_localization package. Use Isaac Read Simulation Time as the node that feeds the timestamp into all of the publishing nodes timestamps. When several prediction modes are enabled, the priority is IMU > Odometry > Constant Velocity > Zero Velocity. 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. 9. Press Play to start ticking the graph and the physics simulation. If 1, no two points in laser_sens can have the same correspondence, If 1, computes the covariance of ICP using the method, If 1, checks that find_correspondences_tricks gives the right answer, If 1, the field 'true_alpha' (or 'alpha') in the first scan is used to compute the incidence beta, and the factor (1/cos^2(beta)) used to weight the correspondence. However, sometimes the laser_scan_matcher does not function good enough, for example in a hallway. The pose of the base frame, in some fixed (world) frame. First, make sure you have the scan_tools stack downloaded and installed by following the instructions here. Something tells me this might perhaps be configurable using covariances. Activity is a relative number indicating how actively a project is being developed. If the polar angle is not a monotone function of the readings index, it means that the surface is not visible in the next position. (rad), Max distance for staying in the same clustering, Number of neighbour rays used to estimate the orientation, If 1, discard correspondences based on the angles, Discard correspondences based on the angles - threshold angle, in degrees, Parameters describing a simple adaptive algorithm for discarding. Laser scan matcher ported to ROS2 Humble. We recommend enabling it and determining empirically if it is useful for your environment. To see the rviz image below, make sure the simulation is playing. 1) Order the errors. How do I go and do this? If it's pose data, you can use the Mahalanobis threshold parameters for that input in r_l to ignore outliers. Add some obstacles to the world and the result must be similar to: Please submit your tickets through github (requires github account) or by emailing the maintainers. Stars - the number of stars that a project has on GitHub.Growth - month over month growth in stars. Last updated on Dec 09, 2022. This ensures that the RViz2 node is synchronized with the simulation data especially when RViz2 interpolates position of lidar data points. [1] A. Censi, "An ICP variant using a point-to-line metric" Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2008. . Keeley is very friendly, professional and knowledgeable with competitive pricing and great product and service. The frameID can be found inside the Property tab -> RawUSDProperties menu -> frameId field. Isaac/Samples/ROS2/Scenario/simple_room_turtlebot.usd, ros2_workspace/src/isaac_tutorials/rviz2/camera_lidar.rviz, 3. That, or you have to dig into the scan matcher code and play with covariances, as @gvdhoorn suggested. $ rosrun laser_scan_matcher laser_scan_matcher_node is executed on bag file running behind in another terminal.. Are you using ROS 2 (Dashing/Foxy/Rolling)? Isaac Read Lidar Beam Node: Retrieve information about the Lidar and data. Wiki: canonical_scan_matcher (last edited 2011-06-18 21:33:28 by IvanDryanovski), Except where otherwise noted, the ROS wiki is licensed under the, Imu messages, used for theta estimation. (rad), Max distance for staying in the same clustering, Number of neighbour rays used to estimate the orientation, If 1, discard correspondences based on the angles, Discard correspondences based on the angles - threshold angle, in degrees, Percentage of correspondences to consider: if 0.90, always discard the top 10% of correspondences with more error, Parameters describing a simple adaptive algorithm for discarding. Laser scan matcher ported to ROS2 Humble. Below is a list of inputs that laser_scan_matcher accepts: IMU :An estimation for the change of the orientation angle (delta-theta) of the robot in the form of a sensor_msgs/IMU message. We can use combinations of the above such as IMU together with wheel odometry or IMU together with alpha beta tracking. Run the same node using the launch file this time: ros2 launch my_package reading_laser.launch.py. To display multiple sensors in RViz2, there are a few things that are important to make sure all the messages are synced up and timestamped correctly. The ROS Wiki is for ROS 1. (Changing this has no effect in the current implementation), If 1, the field 'readings_sigma' in the second scan is used to weight the correspondence by 1/sigma^2 (Not sure if changing this has any effect in the current implementation), the pose of the laser in the base frame. NOTE the CSM library is licensed under the GNU Lesser General Public License v3, whereas the rest of the code is released under the BSD license. Wheel odometry: An estimation for the change of x-, y-, and orientation angle of the robot from an odometric sensor such as wheel encoders. Ensure that the use_sim_time ROS2 param is set to true after running the RViz2 node. Thus, it can serve as a stand-alone odometry estimator. ROS2 Context Node: Setting the Domain ID for the laser scan publisher node. We offer a full line of aesthetic and therapeutic services for beautiful and healthy skin. Only provided when, Whether to use an imu for the theta prediction of the scan registration. (Changing this has no effect in the current implementation), If 1, the field 'readings_sigma' in the second scan is used to weight the correspondence by 1/sigma^2 (Not sure if changing this has any effect in the current implementation). If you already have a guess of the solution, you can compute the polar angle of the points of one scan in the new position. The information below be preserved for a while while people switch. Requires input on, The minimum range of the sensor, if using, The maximum range of the sensor, if using, What distance the fixed frame needs to move before updating the keyframe scan (in meters). As you suggested, I finally implemented robot_localization on my robot. Use our provider locator tool to help you easily find a laser weight loss doctor near you. If it is not visible, then we don't use it for matching. Red lines of the scan means hit, green means no hit, the color spectrum from green to yellow to red is proportional to the distance of the object detected. The required topic is imu/data. whether to publish scan matcher's estimation for the position of the base frame in the world frame as a transform. Programming Language. Configuring RMPflow for a New Manipulator, 19. Visual Inertial Odometry with Quadruped, 7. Their parameters and topics are identical. Saito <130s AT 2000.jukuin.keio.ac DOT jp>, Author: Ivan Dryanovski , William Morris, Andrea Censi, Maintainer: Ivan Dryanovski , Carlos , Isaac I.Y. Both children and adults will get a thrill out of the competition and camaraderie of an action-packed laser tag party. The Ignition-Omniverse connector with Gazebo, 12. Installation. Restart: If 1, restart if error is over threshold, Restart: displacement for restarting. A wrapper around Polar Scan Matcher by Albert Diosi and Lindsay Kleeman, used for laser scan registration. [1] A. Censi, "An ICP variant using a point-to-line metric" Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2008. Contribute to flixz02/ros2_laser_scan_matcher_humble development by creating an account on GitHub. To change the scan_matching mode back to the classical frame-to-frame, the user can simply set either of the two thresholds to zero. First we need to add a lidar sensor to the robot. Please use our Trac to report bugs or request features. FAQs; Reviews; Before & After Gallery; Blog; About Us; Science; Contact Us; Find A Provider; Find a provider . Completed the ROS2 Import and Drive TurtleBot3 tutorial so that Turtlebot is loaded and moving around. Only used if. Only used if, Odometry messages, used for x-, y-, and theta prediction. You should see a result similar to the video below. Requires input on, Whether to use constant velocity model for the x-, y-, and theta prediction of the scan registration. Make sure the Topic that the laser scan is listening to matches the topic name inside the ROS2 Publisher Laser Scan, and fixed frame matches the frameID inside the ROS2 Publish Laser Scan node. Nodes that receives ticks from this node will execute their compute functions every simulation step. BUT: laser scan matcher always has the best odom in my experience, and I only want to prevent a big jump when laser_scan_matcher does not recognize it's scans anymore. /laser_scan should be listed in addition to /rosout and /parameter_events.. To visualize the laser scan data, open RViz2 by typing in rviz2 on the command line and enter. The pose is determined entirely by the scan matcher - no additional odometry is provided. Offline Pose Estimation Synthetic Data Generation, 7. More about CSM: http://www.cds.caltech.edu/~andrea/research/sw/csm.html. If not, this sounds like something where robot_localization could be useful. Disable this if some other node is already publishing an odometric estimation. The participants will receive a 50% refund if cancelling less than 45 days before the course. Verify ROS connections. Set the parameter using the following command in a new ROS2-sourced terminal: Continue on to the next tutorial in our ROS2 Tutorials series, ROS2 Transform Trees and Odometry, to learn how to add global and relative transforms to a TF tree. Are you using ROS 2 (Dashing/Foxy/Rolling)? Code. Is there any reasonably easy way to achieve this? Zero-velocity model: Don't use any prediction, ie, assume that the robot stayed in the same place. Not sure if this is relevant, but please check this issue: https://github.com/ccny-ros-pkg/scan_ . We are assuming that the yaw component of the IMU message corresponds to the orientation of the robot. To publish the simulation time, you can setup the following graph to publish a ROS clock topic. You can run the laser_scan_matcher on a pre-recorded bag file that comes with the package. ROS2 Publish Laser Scan: Publishing laser scan data. Inside rviz, add a Laser Scan type to visualize. In ROS2, there was an early port of cartographer, but it is really not maintained. We appreciate the time and effort spent submitting bug reports and feature requests. Connect lidar sensor output to a ROS2 lidar publisher node to publish the data. Wiki: laser_scan_matcher (last edited 2019-01-02 14:38:46 by NicolasVaras), Except where otherwise noted, the ROS wiki is licensed under the, http://robotics.ccny.cuny.edu/git/ccny-ros-pkg/scan_tools.git, https://github.com/ccny-ros-pkg/scan_tools.git, https://github.com/CCNYRoboticsLab/scan_tools.git, Keyframes vs frame-to-frame scan matching, Alpha-beta tracking for scan matching predictions, Maintainer: Carlos , Isaac I.Y. The odometry from the laser_scan_matcher serves via topic remapping also as an input for the robot_localization package. If the polar angle is not a monotone function of the readings index, it means that the surface is not visible in the next position. An estimation for theta can optionally be provided to improve accuracy, in the form of a sensor_msgs/Imu. Well check drawLines to visualize the lidar scans. The package can be used without any odometry estimation provided by other sensors. Laser scan matcher ported to ROS2 - AlexKaravaev The package allows to scan match between consecutive sensor_msgs/LaserScan messages, . Alternatively, you can provide several types of odometry input to improve the registration speed and accuracy. Press Play to see the lidar comes to life. When no guess is available, a reasonable (and widely-used) assumption is that the sensor didn't move (zero-velocity model). Thus, even for a robot standing still, the incremental transformations might be non-zero. The robot position will suddenly jump to a very different(wrong) point on the map. Setting either of these to zero will reduce to frame-to-frame scan matching. the package has been renamed to laser_scan_matcher and has been updated with additional features. To alleviate this, we implement keyframe-based matching. Repo. This could result in a slow drift of the pose of the robot. Open Issues. Laser scan matcher ported to ROS2. we offer a full line of beauty products to support your skin at home. If you already have a guess of the solution, you can compute the polar angle of the points of one scan in the new position. In Office Course Fee - 4 - 6 People $3000. Hermitage, Tennessee laser tag centers are perfect for guests who love a rush of adrenaline. While the laser_scan_matcher can operate by just using scan data, we can speed up the scan registration process by providing a guess for the current position of the sensor every time a new scan message arrives. The canonical_scan_matcher package is a wrapper around Andrea Censi's Canonical Scan Matcher [1] implementation. Our friendly and experienced staff are professionals who will help you turn back the clock, improving not only your appearance but your self-confidence as well. The pose is determined entirely by the scan matcher - no additional odometry is provided. The robot is turning while that is happening so by the time the end of . This message would typically be published by an IMU or other angular rate sensor. Their default values give a more robust performance, both while standing still and moving. Cancellation Policy: Participants will receive a full refund minus a $75.00 processing fee if canceling at least 45 days before the course. I'm not an expert when it comes to robot_localization, but @Tom Moore is (he wrote it). To see the multi-sensor example below, open the USD asset Isaac/Samples/ROS2/Scenario/simple_room_turtlebot.usd Open its Action graphs and notice the frameID of all the cameras and lidar publisher were set to turtle. This has not yet been tested. 24 commits. Course Duration: 1 day. 1 Answer Sort by . Thus, it can serve as a stand-alone odometry estimator. Constant String: Input to set frameID to turtle. I have a differential drive robot which has a IMU, RPLidar A2 360 degrees laser scanner and encoders on the wheel axes. Restart: If 1, restart if error is over threshold, Restart: displacement for restarting. If it is not visible, then we don't use it for matching. In this example, we will add a lidar sensor to match the one on top of Turtlebot3, and add the rostopics to publish lidar sensor data and info. 2dfce21 on Jun 17. In a separate ROS2-sourced terminal , check that the associated rostopics exist with ros2 topic list. The package allows to scan match between consecutive sensor_msgs/LaserScan messages, and publish the estimated position of the laser as a geometry_msgs/Pose2D or a tf transform. Laser scan matcher ported to ROS2. Thus, we don't really need a full 6DoF IMU sensor - a cheap 1-axis gyro will work as well, as long as its output is packed as an IMU message. It is behind. the pose of the robot base in the world frame. Overview; What to Expect. Keeley & Melissa are upbeat, kind, and professional. include/ ros2_laser_scan_matcher. Chrizzl ) BUT: laser scan matcher always has the best odom in my experience, and I only want to prevent a big jump when laser_scan_matcher does not recognize it's scans anymore. 1) Order the errors. Some noise in the scans is inevitable. (m), Restart: displacement for restarting. Are you fusing the pose data from the scan matcher, or velocities? Transferring Policies from Isaac Gym Preview Releases, 6. 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