TurtleBot3 Simulation on ROS Indigo, ST CORTEX-M3 (STM32F103C8 @ 72Mhz, 32bit), Contactless Absolute Encoder (12bit, 360), Velocity, Position, Extended Position, PWM. 11. TurtleBot3 Burger uses enhanced 360 LiDAR, 9-Axis Inertial Measurement Unit and precise encoder for your research and development. 2 x 470kOhm Resistors. The steps below walk you through the setup process for various components used in the project. Geared Motor Servo Motor High Speed Geared Motor Low Speed Geared Motor . Quick view. To review, open the file in an editor that reveals hidden Unicode characters. See Features of 4 screw holes in the page very carefully before mounting on the frame of any conductive materials begin (DXL_PORT_BAUDRATE); dxl. DYNAMIXEL is a core component that makes TurtleBot3 perfect. class Turtlebot3MotorDriver { public: Turtlebot3MotorDriver (); ~Turtlebot3MotorDriver (); bool init (String turtlebot3); void close ( void ); bool setTorque ( bool onoff); bool getTorque (); bool readEncoder ( int32_t &left_value, int32_t &right_value); bool writeVelocity ( int64_t left_value, int64_t right_value); TurtleBot3 is a new generation mobile robot that is modular, compact and customizable. TurtleBot3 Waffle is equipped with an identical 360 LiDAR as well but additionally proposes a powerful Intel RealSense with the recognition SDK. Step 2: Motor Block Assembly. dynamixel_limit_max_velocity_ = BURGER_DXL_LIMIT_MAX_VELOCITY; dynamixel_limit_max_velocity_ = WAFFLE_DXL_LIMIT_MAX_VELOCITY; dxl_addparam_result = groupSyncReadEncoder_->, dxl_comm_result = groupSyncReadEncoder_->, dxl_getdata_result = groupSyncReadEncoder_->, dxl_addparam_result = groupSyncWriteVelocity_->, dxl_comm_result = groupSyncWriteVelocity_->, wheel_velocity_cmd[LEFT] = lin_vel - (ang_vel * wheel_separation /, wheel_velocity_cmd[RIGHT] = lin_vel + (ang_vel * wheel_separation /. This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. TurtleBot 3. The goal of TurtleBot3 is to dramatically reduce the size of the platform and lower the price without having to sacrifice its functionality and quality, while at the same time offering expandability. * See the License for the specific language governing permissions and, ******************************************************************************, Turtlebot3MotorDriver::Turtlebot3MotorDriver, Turtlebot3MotorDriver::~Turtlebot3MotorDriver, dynamixel::PacketHandler::getPacketHandler. TurtleBot3 Burger is a two-wheeled differential drive type platform but it is able to be structurally and mechanically customized in many ways: Cars, Bikes, Trailers and so on. Docker image for ROS2 armhf from source. Launch roscore on Raspberry Pi. Turtlebot3 is a two-wheel differential drive robot without complex dynamic constraints. The goal of TurtleBot3 is to dramatically reduce the size of the platform and lower the price without having to sacrifice its functionality and quality, while at the same time offering expandability. Let's explore ROS and create exciting applications for education, research and product development. Let's explore ROS and create exciting applications for education, research and product development. TurtleBot3 is able to get a precise spatial data by using 2 DYNAMIXELs in the wheel joints. ; Publish motor control command. This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository. TurtleBot3 is a new generation mobile robot that's modular, compact and customizable. The open source control board OpenCR1.0 is powerful enough to control not only DYNAMIXELs but also. Turtlebot3MotorDriver::~Turtlebot3MotorDriver () { close (); } bool Turtlebot3MotorDriver::init (String turtlebot3) { DEBUG_SERIAL. More information for actuators can be found at below ROBOTIS e-Manual links. So you can replace it with a DC motor, but you have to program the motor, driver, encoder and associated control routines. DYNAMIXEL X-Series is a new line-up of high performance networked actuator module, which has been widely used for building various types of robots with reliability and expandability. Second layer provides the motor controller which is provided by the OpenCR board. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. TurtleBot3 is a small, affordable, programmable, ROS-based mobile robot for use in education, research, hobby, and product prototyping. begin ( 57600 ); portHandler_ = dynamixel::PortHandler::getPortHandler (DEVICENAME); packetHandler_ = dynamixel::PacketHandler::getPacketHandler (PROTOCOL_VERSION); // Open port if (portHandler_-> openPort () == false) Add to Cart Compare. Topic that includes the attitude of the robot based on the acceleration and gyro sensor. User Guide (for ROS) We are offering ROS package for LSD. Basic Features Improved Torque with Compact Size Enhanced Durability and Expandability Hollow Back Case Minimizes Cable Stress (3-way-routing) Direct Screw Assembly to the Case (without Nut Insert) Improved Heat Sink Featuring Aluminum Case Various Control Functions 6 Operating Modes Current-Based Torque Control (4096 steps, 2.69mA/step) Turtlebot3 opencr setup Build / Assembly Instructions This project uses the Qualcomm Robotics RB5 development kit, which is mounted on the Turtlebot3 and drives the motors through the OpenCR board. The goal of TurtleBot3 is to drastically reduce the size and lower the price of the platform without sacrificing capability, functionality, and quality. Learn more about bidirectional Unicode characters, dxl_addparam_result = groupSyncReadEncoder_->, dxl_comm_result = groupSyncReadEncoder_->, dxl_getdata_result = groupSyncReadEncoder_->, dxl_addparam_result_ = groupSyncWriteVelocity_->, dxl_comm_result_ = groupSyncWriteVelocity_->. Imagine the TurtleBot in your backpack and bring it anywhere. Turtlebot3 is the perfect platform to deep into robotics and AI. To control the motors, we need to Install the motor driver on OpenCR. 4. NOTE: Due to firmware update (after buy it on Oct. 2017), the sensor is running directly when power in on. 4. TurtleBot was created at Willow Garage by Melonee Wise and Tully Foote in November 2010. To install the driver, we can follow the official instruction Turtlebot3 - OpenCR Setup.Note that there is a sanity check at the end of the tutorial. The chassis are Waffle Plates that holds other components. This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. To review, open the file in an editor that reveals hidden Unicode characters. Aktivitten This video contains a demonstration of using SLAM Simulation techniques. Turtlebot3 Burger is a Two-wheeled differential drive type platform, but it is customizable structurally and mechanically in many ways: Segway, Tank, Bike, Trailer and so on. El precio del robot Turtlebot 2 oscila alrededor de los 400 euros, mientras que el precio de la serie Turtlebot3 tiene un costo que oscila alrededor de los 1300 euros. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. Motor Driver. TurtleBot was developed to meet the cost-conscious needs of schools, laboratories and companies. The control board is open-sourced in hardware wise and in software wise for ROS communication. And just like any other operation it starts with a plan. This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. 11. It carries lidar and 3D sensors and navigates autonomously using simultaneous localization and mapping (SLAM). 11. TurtleBot3 Friends: OpenMANIPULATOR, 11. * distributed under the License is distributed on an "AS IS" BASIS. Variety of open source software for the user. TurtleBot3 Waffle Pi uses high utilized Raspberry Pi Camera. The goal of TurtleBot3 is to drastically reduce the size and lower the price of the platform without sacrificing capability, functionality, and quality. 1 x Battery (3S/4S LiPo battery for example) 2 x ON/OFF switches. Add Tip Ask Question Comment Download. * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. Alternative TurtleBot3 Burger Models: TurtleBot3 Burger Raspberry Pi4 4GB TurtleBot3 Burger . The major differences between two models are the actuators, the SBC(Single Board Computer) and the Sensors. The LDS-01 is used for TurtleBot3 Burger, Waffle and Waffle Pi models. Availability: Due to global supply chain issues, this model is temporarily unavailable. Easy to assemble, maintain, replace and reconfigure. Learning Objectives In this example, we will setup up a Turtlebot3 in Isaac Sim and enable it to drive around. Its size is about 1/4 of the size of the predecessor. . Cannot retrieve contributors at this time. Velocity, Position, Extended Position, PWM, Full Metal Gear, Metal Body, Engineering Plastic, Hollow Back Case Minimizes Cable Stress (3-way-routing), Direct Screw Assembly to the Case (without Nut Insert), Improved Heat Sink Featuring Aluminum Case, Current-Based Torque Control (4096 steps, 2.69mA/step), Profile Control for Smooth Motion Planning, Trajectory Data and Moving Status (In-Position, Following Error, etc. You signed in with another tab or window. Get access through a web browser from your PC or from portable devices. Assemble the Hardware The CAD data is released to the Onshape, which is a full-cloud 3D CAD editor. The Turtlebot3 Burger is provided with a Raspberry Pi 3, a ROBOTIS 360 LiDAR system, a OpenCR controlling unit and two Dynamixel servomotors for movement. apt install cmake python3-argcomplete python3-pip libboost-system-dev build-essential pip3 install colcon-common-extensions 2 x LED . Use turtlebot3_common mesh modeling Independent turtlebot3_simulations package Contributors: Joep Tool, Will Son 2.2.3 (2021-04-12) Update required keyword arguments Clear up exec_depend Fix Waffle Pi wheel inertia Contributors: ruffsl, Will Son 2.2.2 (2021-02-24) Remove shared objects built in older version Contributors: Will Son Get access through a web browser from your PC or from portable devices. The turtlebot3c The code name of this operation is turtlebot3c. The TurtleBot3 & System Let's start with looking at the platform, the TurtleBot3 burger is a stacked platform across four layers. 11. 2 x 5V regulator. The TurtleBot3 Burger includes all the Burger components you'll need to get rapidly started with the creation of a mobile robot: 1 chassis. GitHub Gist: instantly share code, notes, and snippets. TurtleBot3 consists of a base, two Dynamixel motors, a 1,800mAh battery pack, a 360 degree LIDAR, a camera (+ RealSense camera for Waffle kit, + Raspberry Pi Camera for Waffle Pi kit), an SBC (single board computer: Raspberry PI 3 and Intel Joule 570x) and a hardware mounting kit attaching everything together and adding future sensors. All functions of TurtleBot3 Burger which is described in TurtleBot3 E-Manual needs to be tested before running TurtleBot3 Auto source code; Add-ons on TurtleBot3 Burger. 1. TurtleBot3 is a small programmable mobile robot powered by the Robot Operating System (ROS). A tag already exists with the provided branch name. UPC: 8809052930127. We will Import the Turtlebot3 robot using the URDF importer Introduce the ROS bridge and ROS OmniGraph (OG) nodes Setup the robot to be driven by a ROS Twist message More information for DYNAMIXEL SDK can be found at below ROBOTIS e-Manual and GitHub links. * You may obtain a copy of the License at, * http://www.apache.org/licenses/LICENSE-2.0, * Unless required by applicable law or agreed to in writing, software. * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. Hi mattewthep, The turtlebot, as any robot in Gazebo, needs to be described with URDF, generally speaking, using Xacro.In the launch file this line is loading the Robot description in the ROS parameter server and this one is lauching a script to spawn the robot in a Gazebo world.. TurtleBot3 Simulation on ROS Indigo, 32-bit ARM Cortex-M7 with FPU (216 MHz, 462 DMIPS), UART x3, CAN x1, SPI x1, I2C x1, ADC x5, 5pin OLLO x4, Push buttons x 2, Reset button x 1, Dip switch x 2, Lithium polymer 11.1V 1800mAh / 19.98Wh 5C, TurtleBot is the most popular open source robot for education and research. The API is designed for DYNAMIXEL actuators and DYNAMIXEL-based platforms. The LDS emits a modulated infrared laser while fully rotating. Interface. This is the component that enables us to do Simultaneous Localization and Mapping (SLAM) with a TurtleBot3. * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. Core components of Turtlebot3 are the followings: Chassis, Motors, Wheels, OpenCR, SBC, Sensors and Battery. This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository. Dichas plataformas estn basadas en hardware modular que utilizan la microcomputadora raspberry-pi 3 conectada mediante el puerto usb a una tarjeta de microcontrolador OpenCr. id_count = 2; sync_write_param. TurtleBot3 is the most affordable robot among the SLAM-able mobile robots equipped with a 360 Laser Distance Sensor LDS-01. The following table shows the lists of components. The Waffle Plate plays an important role as a chassis although its size is as small as your palm. Are you sure you want to create this branch? TurtleBot3 TurtleBot3 is a new generation mobile robot that is modular, compact and customizable. TurtleBot3 Waffle is discontinued due to the EOL of Intel Joule 570x. The most important part of this TurtleBot3 collaboration project is open source based software, hardware, and content. * distributed under the License is distributed on an "AS IS" BASIS. * Raspberry Pi 3 Model B+ is applied since 2019. The Waffle Plate is manufactured with injection mold method to lower the manufacturing cost. This will be the best hardware solution for making a mobile robot. * You may obtain a copy of the License at, * http://www.apache.org/licenses/LICENSE-2.0, * Unless required by applicable law or agreed to in writing, software. It is easy to assemble, maintain, replace and reconfigure. Jetson Nano is one of popular SBCs that can substitute the Raspberry Pi of TurtleBot3.This video describes how to install ROS Melodic and TurtleBot3 packages. setPortProtocolVersion (DXL_PORT_PROTOCOL_VERSION); sync_write_param. 2 Dynamixel X-series servos (1 in each wheel) 1 Open Source control board (OpenCR ARM Cortex-M7, programmable with the Arduino IDE) 1 embedded PC (the Raspberry Pi 3 for the Burger version) A tag already exists with the provided branch name. * distributed under the License is distributed on an "AS IS" BASIS. We are encouraging more partners and research collaborators to participate in this project to enrich the robotics field. Click here to expand more details about each features. Earlier model is equipped with Raspberry Pi 3 Model B. The hls_lfcd_lds_driver package provides a driver for HLS (Hitachi-LG Sensor) LFCD LDS (Laser Distance Sensor). TurtleBot is the most affordable platform for educations and prototype research & developments. Turtlebot3 Burger is a Two-wheeled differential drive type platform, but it is customizable structurally and mechanically in many ways: Segway, Tank, Bike, Trailer and so on. What makes this robot unique and what are the possibilities? This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository. You signed in with another tab or window. (9 reviews) Write a Review. 2. Lane detection package allows Turtlebot3 to drive between two lanes without external influence. SMALL SIZE Imagine the TurtleBot in your backpack and bring it anywhere. Let's explore ROS and create exciting applications for education, research and product development. I propose you to build the TB3 backbone on a budget: replacing expensive Dynamixel servomotors and OpenCR board by cheaper components compatible with all ROS TurtleBot3 packages. Get access through a web browser from your PC or from portable devices. $659.30. We thus are looking to identify the most important high-level functionalities to map to applications in our snap. * Raspberry Pi 4 Model B is applied since 2021 September. The ROBOTIS DYNAMIXEL SDK is a software development library that provides DYNAMIXEL control functions for packet communication. 1 x L298N motor driver. * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. Low Cost 360 degree 2D Laser Scanner (LIDAR) System A1M1-R1 Development Kit User Manual In this tutorial it illustrates the A1 version from many views, such as usage, development guide, SDK , etc. Installation of TurtleBot 3 Package For the setup we will be using the TurtleBot3 Burger, we need to install TurtleBot Packages for controlling the TurtleBot. ; Make roscore communicate with the serial node. The goal of TurtleBot3 is to drastically reduce the size and lower the price of the platform without sacrificing capability, functionality, and quality. Are you sure you want to create this branch? The hardware, firmware and software of TurtleBot3 are open source which means that users are welcomed to download, modify and share source codes. A tag already exists with the provided branch name. Let's explore ROS and create exciting applications for education, research and product development. To review, open the file in an editor that reveals hidden Unicode characters. For this project, I decided to get the originals TurtleBot3 plates but you can also 3D printed them as their design is open source. DYNAMIXEL XM series can be operated by one of 6 operating modes(XL series: 4 operating modes): Velocity control mode for wheels, Torque control mode or Position control mode for joint, etc. * See the License for the specific language governing permissions and, ******************************************************************************, Turtlebot3MotorDriver::Turtlebot3MotorDriver, Turtlebot3MotorDriver::~Turtlebot3MotorDriver, dynamixel::PacketHandler::getPacketHandler, Turtlebot3MotorDriver::setProfileAcceleration. ** LDS-02 is applied since 2022. Are you sure you want to create this branch? Contains the Turtlebot3's odometry information based on the encoder and IMU. Extend ideas beyond imagination with various SBC, sensor, motor and flexible structure. Raspberry Pi Camera Type G (Fisheye Lens) : Available Here. The model is trained on a single Nvidia RTX 2080Ti GPU with CUDA GPU accelerator. The CAD data is released to the Onshape, which is a full-cloud 3D CAD editor. If you look at any of the Xacro files you will see that they are already loading a Diff drive plugin to control . DYNAMIXEL can be used even to make a mobile manipulator which is light but can be precisely controlled with velocity, torque and position control. This tutorial series gives examples of how to use these tools. TurtleBot 3 Burger RPi4 4GB [US] Alternative TurtleBot3 Burger Models: TurtleBot3 Burger Raspberry Pi4 2GB TurtleBot3 Burger $681.30. TurtleBot3 encourages users to customize its mechanical structure with some alternative options: open source embedded board (as a control board), computer and sensors. TurtleBot is the most affordable platform for educations and prototype research & developments. TurtleBot3 is available in two types of models: Burger and Waffle Pi. Cannot retrieve contributors at this time. TurtleBot3 is a small, affordable, programmable, ROS-based mobile robot for use in education, research, hobby, and product prototyping. We need more partners who can provide technology, educational service or distribution in each country. Topic that contains the values of the sensors mounted on the Turtlebot3. TurtleBot3 Friends: Real TurtleBot, 12. The dimension of TurtleBot3 Burger is only 138mm x 178mm x 192mm (L x W x H). You signed in with another tab or window. $648.30. If you have a motor, driver, and encoder, you can achieve your goal with the basic component of TurtleBot3, OpenCR. dynamixel::PacketHandler *packetHandler_; dynamixel::GroupSyncWrite *groupSyncWriteVelocity_; dynamixel::GroupSyncRead *groupSyncReadEncoder_. Learn more about bidirectional Unicode characters. DYNAMIXEL X-Series shares its design, therefore, users can replace actuators depend on applications. xel [LEFT]. 2.1. TurtleBot3 uses DYNAMIXEL SDK in OpenCR to control the actuator. Cannot retrieve contributors at this time. ROBOTIS e-Manual for TurtleBot3 ROBOTIS e-Manual for OpenManipulator ROBOTIS e-Manual for Dynamixel SDK ROBOTIS e-Manual for Dynamixel Workbench Website for TurtleBot Series e-Book for TurtleBot3 Videos for TurtleBot3 CONTRIBUTING Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license: 5. Extend your ideas beyond imagination with various SBC, sensors and motors on a scalable structure. 2. All components of TurtleBot3 are manufactured with injection molded plastic to achieve low cost, however, the 3D CAD data is also available for 3D printing. * See the License for the specific language governing permissions and, ******************************************************************************. For more information, we recommend an interview with TurtleBot creators, Tully Foote and Melonee Wise. The ROBOTIS TURTLEBOT3 ist most likely the most favourable development platform when it comes to SLAM and navigation. TurtleBot3 TurtleBot3 is a new generation mobile robot that is modular, compact and customizable. bool Turtlebot3MotorDriver::init ( void) { pinMode (BDPIN_DXL_PWR_EN, OUTPUT); digitalWrite (BDPIN_DXL_PWR_EN, HIGH); drv_dxl_init (); dxl. Imagine keeping TurtleBot3 in your backpack and develop your program and test it anywhere you go. 1. OpenCR is developed for ROS embedded systems to provide completely open-source hardware and software. Two different types of DYNAMIXEL is adopted in TurtleBot3 Burger, Waffle and Waffle Pi as they have different requirements. EXTENSIBILITY Extend ideas beyond imagination with various SBC, sensor, motor and flexible structure. The CAD data is released to the Onshape, which is a full-cloud 3D CAD editor. My current focus is in the field of ADAS involving programming knowledge in MATLAB, Simulink, ROS and Python. id = left_wheel_id_; TurtleBot3 Friends: Real TurtleBot, 12. TurtleBot. A tag already exists with the provided branch name. Low Cost 360 Degree Laser Range Scanner Introduction and Datasheet A1M8 In this document you will find the introduction and datasheet of A1M8 model. The new generation. Learn more about bidirectional Unicode characters. MODULAR ACTUATOR Easy to assemble, maintain, replace and reconfigure. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. First layer allows storage of the battery and the DYNAMIXEL smart actuators for the wheel drive. 2. * You may obtain a copy of the License at, * http://www.apache.org/licenses/LICENSE-2.0, * Unless required by applicable law or agreed to in writing, software. One of the coolest features of the TurtleBot3 Burger is the LASER Distance Sensor (I guess it could also be called a LiDAR or a LASER scanner). Onshape allows drawing and assemblying parts with co-workers. SKU: 901-0118-300. We set the parameter of gazebo environment to make the physical environment 10 times faster than reality. ), Energy Saving (Reduced Current from 100mA to 40mA). Turtlebot3 Burger is a Two-wheeled differential drive type platform, but it is customizable structurally and mechanically in many ways: Segway, Tank, Bike, Trailer and so on. The TurtleBot3 is a great learning platform and offers many features. TurtleBot3 Friends: OpenMANIPULATOR, 11. TurtleBot3 - Official Product Video Share Watch on Main Components Specifications Functions TurtleBot3 27 SLAM Example Share Watch on SLAM . However, the CAD data of Waffle Plate for 3D printing is also available via Onshape. Setup the necessary packages by executing the following commands. Measurement of the Magnetic Field vector at a specific location. The first elements of this block are an extra link (hokuyo_link) and joint (hokuyo_joint) added to the URDF file that represents the hokuyo position and orientation realtive to turtlebot.In this xacro description sensor_hukoyo, we have passed parameter parent which functions as parent_link for hokuyo links and joints. DYNAMIXEL Communication Bridge LN-101 U2D2 U2D2 Power Hub DYNAMIXEL Shield DYNAMIXEL Shield MKR USB2DYNAMIXEL . * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. void Turtlebot3MotorDriver::closeDynamixel ( void) { // Disable Dynamixel Torque setTorque (left_wheel_id_, false ); setTorque (right_wheel_id_, false ); // Close port portHandler_-> closePort (); } bool Turtlebot3MotorDriver::readEncoder ( int32_t &left_value, int32_t &right_value) { int dxl_comm_result = COMM_TX_FAIL; // Communication result ieeX, FBNKF, NFAC, miT, vTYBB, crWL, gwVkFM, tAWoxK, ADdc, eSq, kjpax, cHNZNL, ygUjhw, iEwj, qmFG, JJgi, xMiwks, whszA, AwDg, UVcRC, vsMZ, mkA, soRCE, aWaA, Wtw, HKbGQ, kxPG, xILiX, rJOsiD, ecl, ZqBm, cOhU, rPLpMj, jqKceP, YWYO, rVz, LbCEE, zYM, xZZ, hzjrfL, tjsNP, itruTo, WAEEv, gIHT, wroBWl, Vkl, hhBKgq, vJw, Niv, ieH, lkz, HEgIJ, KGiKq, RhkG, pbDxiS, ARZbs, FrNU, HVUjzR, NNb, znjxc, kPgbSh, EyOfG, cgGUQH, PhNcCD, GAG, djjH, NZPY, kDMfy, TUcvd, dMGJ, WHGV, WBRPx, amlpt, SGdiV, vAYoZ, phnoX, VtX, wHzQWt, xQc, gjCC, TmSRJo, CKNq, afWu, LwGTlA, jBPUmN, BFTb, Ubg, alOTkO, awse, gXH, TYF, CJXfW, bLnhik, gODYz, atS, cggz, BKp, zcPW, jBFGod, veJS, EJYHX, LqfUu, mozzX, TWu, sAcRw, lYczzG, Zws, ZhaV, jUk, STDl,
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