ros2 get parameter from launch file

How to launch a node with a parameter in ROS2? Here's a minimal Python node which simply declares all parameters used in this tutorial. We do not currently allow content pasted from ChatGPT on Stack Overflow; read our policy here. Something can be done or not a fit? For other actions there are different configuration options. ROS2 Custom Messages. Although this was not an issue. Does the collective noun "parliament of owls" originate in "parliament of fowls"? This tutorial will explain everything you need to know about ROS2 launch files. Can virent/viret mean "green" in an adjectival sense? Connect and share knowledge within a single location that is structured and easy to search. Lets look at a simple example using the IfCondition: LogInfo in line 8 is an action that will print a message to your terminal output. The following example starts the visualizer Rviz with a config file that was constructed by the PathJoinSubstitution class: The path rviz_config_file we get from PathJoinSubstitution in line 7 will be something like /rviz/view_robot.rviz. Asking for help, clarification, or responding to other answers. A more detailed description of command line arguments for launch files and their usage is given in the first question of the FAQs. Is it cheating if the proctor gives a student the answer key by mistake and the student doesn't report it? Note that you need to define your actions, like the turtlesim1 Node, just as before. When the state of a process changes we call it an event and event handlers allow us to react to those events. Add a parameters arguments to your launch file to initialize the new value. Thats why we want to have a look at some common problems and use cases that you can solve with launch files to see the functionalities you learned in action. Does integrating PDOS give total charge of a system? Help us identify new roles for community members, Proposing a Community-Specific Closure Reason for non-English content. Making statements based on opinion; back them up with references or personal experience. Equivalent of running a ros2 param set command (which would trigger the callback). After sourcing the environment: we can start the launch file from every directory using the following command: If you want to add your launch file to a python package, add the following lines to your setup.py file: It is also good practice to add a dependency to ros2launch to the package.xml file of your package: Now you know how to create launch files and add them to a package. they are starting, running, stopping, etc.. ROS2 launch files are a powerful tool for robotics applications. Examples of frauds discovered because someone tried to mimic a random sequence, Disconnect vertical tab connector from PCB. Another convenient substitution is the PathJoinSubstitution class. ROS2 Launch Files. Creative Commons Attribution Share Alike 3.0. Should I give a brutally honest feedback on course evaluations? ( How to launch a node with a parameter in ROS2?). We are happy (Yay!) ros2 launch command line tool. Remember that DeclareLaunchArgument is an action which also needs to be added to LaunchDescription as its done in line 31. Lifecycle Nodes are another concept that was introduced in ROS2. CGAC2022 Day 10: Help Santa sort presents! There are a bunch of resources that describes setting a parameter on node startup using a launch file. I don't understand your answer: "I think the robot_param:= is where you are having the issue.". How can I install packages using pip according to the requirements.txt file from a local directory? I was having trouble getting it to fit in the comments. To add the Node we need to import Node from launch_ros.actions in line 2. Why is Singapore considered to be a dictatorial regime and a multi-party democracy at the same time? How to hand over command line arguments to a ROS2 launch file, How to find out the launch arguments of a ROS2 launch file, How to set arguments for a node in a ROS2 launch file, How to include a ROS2 launch file in another launch file, List of common ROS2 launch event_handlers, list of the most common ROS2 launch actions, ROS Tutorial: How to use OpenCV in a Robot Pick and Place task for Computer Vision, Tutorial: Control the TCP position of a UR5 robot in C++ with KDL Inverse Kinematics explained. Please start posting anonymously - your entry will be published after you log in or create a new account. The rubber protection cover does not pass through the hole in the rim. ROS2 Parameters. If not, robot state publisher can take urdf file as an argument, so you could process the xacro file with xacro python module, save it and pass that file name as argument. ROS2: How to pass arguments from one launch file to a child launch file, Subscribe to ROS2 topic from native ePromisa DDS program. An entity could for example be the URDF description of a robot. There is also the UnlessCondition which can be used accordingly: In this example, if USER doesnt equal alex we greet our new acquaintance. We will discuss the use of conditions in detail in this section. The meaning of these arguments is not important here but with the arguments option in the Node action constructor you can hand over as many arguments as you want in an array. Parameters can be integers, floating point numbers, booleans, string, or arrays of the previous types. MoveIt! There is some ongoing work towards more modern localization solutions in ROS2, but it would seem to be a long way off. Afterwards we will discuss common questions and use cases for ROS2 launch files and at the and of the article you can find a list of all the common actions, event_handlers and substitutions that you can use in your launch file. I assigned the values I read to the param variable. What is Real-Time Computing and why is it important in Robotics? The launch module contains generic classes that are ROS-independent while the launch_ros module provides ROS-specific classes. The first option is to add the action to the constructor as follows: You can add as many actions as you want. The example launch file is: It allows you to construct the path to a file. ros2 run some_package some_ros_executable --ros-args -r some_node:foo:=bar Single parameter assignments Parameter assignment may be achieved using the --param / -p option. Understanding The Fundamental Theorem of Calculus, Part 2. We specify the name of the argument and optionally a default value which is used if the user doesnt pass an argument. only for the actions in that specific group: There are many additional actions you can add to your launch file. condition=IfCondition(use_gui). With ros1 I have a launch file that refers to a config file and from cpp code I use node.getParam. Start by creating a new file workcell.launch.py under the launch/ directory. Remember, event handlers are included in the launch file as follows: To use substitutions inside your launch file you need to import the corresponding modules either for general or for ROS-specific substitutions: Save my name, email, and website in this browser for the next time I comment. One special type of action is the GroupAction that allows you to group actions and that way scope them. After creating the launch file you can go to that directory and run: Instead of lonely files languishing in your file system, waiting for someone to find them, launch files are often part of a package. By clicking Accept all cookies, you agree Stack Exchange can store cookies on your device and disclose information in accordance with our Cookie Policy. ROS2 Foxy : Unable to locate package ros-foxy-desktop, Incorrect Security Information - Docker GUI. How do I delete a file or folder in Python? For example, you might be able to run the following command to make sure that SLAM is launched when the launch file is run. Alternative to parameters=[parameters_file_path], one can specify the parameters directly with. With the event_handler argument in line 22 we define the type of handler to use, in our case OnExecutionComplete. It there another way to set an argument in the xacro file? In contrast to normal Nodes, managed (lifecycle) Nodes have states that can be controlled by the developer and state transitions can be based on certain conditions (you can read more about managed Nodes here). Text Environment variable Executable Parameter files ( #2002 Wildcards Namespaces audrow self-assigned this Cover Python, XML, and YAML for all ROS2 launch guides Show parameter override precedence in Node action audrow mentioned this issue Add guide for using Python, XML, and YAML in launch files #1468 audrow completed on Feb 16 Is Energy "equal" to the curvature of Space-Time? You will see the specified name if the action writes a terminal output. passing the parameter works fine but when I start the node with the launch python file. Are there conservative socialists in the US? It can also be used inside a GoupAction to only be added to specific Nodes. One common event handler is OnExecutionComplete which triggers when a process finished its execution: In our example, turtlesim2 will be started after turtlesim1 finished its execution. I am having a "fight" with launch-file argument in ROS2 for a few days already. To subscribe to this RSS feed, copy and paste this URL into your RSS reader. Dynamically setting a ROS2 parameter using launch file? You can follow along if you want by executing the following commands inside your workspace (dev_ws in this example): Now you need to copy the launch file into the launch folder we just created inside the package with the mkdir launch command. Here you can find a detailed description how to use the ComposableNodeContainer. Just as the name suggests, they allow you to make the execution of your actions dependent on something. Does a 120cc engine burn 120cc of fuel a minute? Is there any way to specify an action in the launch file on a node that triggers this callback ? Something along the lines: Where robot_urdf is preprocessed xacro file i.e. if you want to simulate a robot and launch its controllers from a launch file. We know that ROS 2 launch files enable you to pass arguments on the command line.For example, you might be able to run the following command to make sure that SLAM is launched when the launch file is run.ros2 launch my_robot_bringup bringup.launch .py slam:=True. Only file paths are allowed. Lets have a look at the functionalities that make ROS2 launch files so powerful. urdf description of the robot. If you want to call a launch file from another launch file you can use the IncludeLaunchDescription action. Find centralized, trusted content and collaborate around the technologies you use most. Site design / logo 2022 Stack Exchange Inc; user contributions licensed under CC BY-SA. On the other hand, I cannot wrap this into a parameter map. ROS 2 Launch XML Format v0.1.0 Rationale As an alternative to a programmatic approach to the ROS 2 launch system's API, a declarative description features a WYSIWYG approach, easier to read, audit and maintain. I have a main bringup.launch.py launch file of which the launch descriptor includes child.launch.py as a child launch file like this: How do I pass an argument from bringup.launch.py to child.launch.py? How to say "patience" in latin in the modern sense of "virtue of waiting or being able to wait"? Now this launch file will be called where ever we add the IncludeLaunchDescription action in the launch file. There are a bunch of resources that describes setting a parameter on node startup using a launch file. Use it as argument for xacro file holding robot description. a topic called /input/pose would appear as /turtlesim1/turtle1/pose. To get the path to the ur_description package we use FindPackageShare which is also part of the substitutions module. This tutorial is for ROS2 Humble. from launch.substitutions import LaunchConfiguration def generate_launch_description (): value= LaunchConfiguration ('argument_for_child', default='-') . In the entities option we specify the actions that should than be executed as an array. Each section/module of the course is focused on one ROS2 key concept. I want to be able to quit Finder but can't edit Finder's Info.plist after disabling SIP. You can find a list of the most common ROS2 launch actions at the end of the article. Connect and share knowledge within a single location that is structured and easy to search. In the end, launch files in ROS2 are powerful and combining the different basic functionalities makes them very flexible. Note: In case you never heard of environment variables: They are dynamic values that you can access inside the environment your process runs in, in this case the terminal from which you start the launch file. When this node reaches the state we define with the goal_state option, the event is triggered. How to launch a node with a parameter in ROS2? By clicking Accept all cookies, you agree Stack Exchange can store cookies on your device and disclose information in accordance with our Cookie Policy. Let's suppose this file is located inside a ROS 2 package named my_robot_bringup. I extended my question with the imports. Find centralized, trusted content and collaborate around the technologies you use most. Please start posting anonymously - your entry will be published after you log in or create a new account. You answer is valid thanks! Inside the IfCondition we evaluate a python expression. As you see in line 21 we need to register our event handler using the RegisterEventHandler() action. Am I missing something with substitutions? It includes options to automatically respawn processes that have already died. 3 ros2 param get.. If no parameter is provided, default to the parameter to "world". Save plot to image file instead of displaying it using Matplotlib. Connecting three parallel LED strips to the same power supply. ros2 launch realsense_ros2_camera ros2_intel_realsense.launch.py it ignores the parameter. These options are specific for a Node action and as you can see, there are a lot of configurations. How can I install packages using pip according to the requirements.txt file from a local directory? In line 8 we get the value of the launch argument new_background_r and store it in the new_background_r_value launch configuration variable which we can use inside the ExecuteProcess action in line 25. We know that ROS 2 launch files enable you to pass arguments on the command line. However, in most cases your executable will be in a specific package and you will want to give it a name as in the example above. But actuall mistake was that I had comments in following format in my xacro file: "SOMETHING: xyz" and this was recognized as some mapping. In our case we make the printing dependent on the environment variable USER which we already used in the previous example. The action we are adding in our first simple launch file is a Node. I tried to combine all the functionalities that the new launch framework provides in one article for a better overview. If you have a existing launch file and you want to know which command line arguments it takes you can use the following command: This will print the arguments with description and default values in your terminal. I have edited the above answer for an example launch file I was able to get working. At what point in the prequels is it revealed that Palpatine is Darth Sidious? roslaunch takes in one or more XML configuration files (with the .launch extension) that specify the parameters to set and nodes to launch, as well as the machines that they should be run on. Launch Files Logging Modify LaserScan Message Definition Multiple robots on one roscore Multirobot map merging Namespaces and Namespacing TFs Object Detection using YOLO PID for Beginners Programmatically Resetting Gazebo World Publish commands to a commandline ROS and AWS Integration SDF to URDF convertion Smart Rotation For each concept, you'll get: Concept explanation, with the context, and why you need to learn that.ROS2 Installation, Workspace, Packages, ROS2 Nodes. To learn more, see our tips on writing great answers. (TA) Is it appropriate to ignore emails from a student asking obvious questions? Help us identify new roles for community members, Proposing a Community-Specific Closure Reason for non-English content, Calling a function of a module by using its name (a string). This is the full example launch file I was able to use to pass arguments to XACRO, edit: I did not understand the full question, the below is not a satisfactory answer. The value of the red component can be specified with an input argument to the launch file: With the DeclareLaunchArgument action in line 10 we determine that we expect an argument named new_background_r to be handed over to the launch file. This is useful e.g. What happens if you score more than 99 points in volleyball? This expression returns true if the environment variable USER equals alex and in that case prints a welcoming log message. To make the launch file do something we need to add actions to that object. parameterlaunchparameter2launchturtlesim_nodeturtle_teleop_keyparameter turtlesim ros2param param list command ros2 param list result ros2 param list param get command Browse other questions tagged, Where developers & technologists share private knowledge with coworkers, Reach developers & technologists worldwide. How do I check whether a file exists without exceptions? You need to call the ROS 2 service //set_parameters to trigger this callback. I started to look into it a few months ago and got stuck on launch files when porting my tutorials so I decided start with a tutorial on launch files. Lets have a look at the Node we defined in our simple launch file example: You can see that in lines 2 to 4 we specify different arguments for the Node action. That information can be environment variables, launch configurations or even Python expressions. There are two ways you can add actions to a LaunchDescription object. Conditions help to add even more logic to your start up procedure. On the other hand if its alex, we just wave and dont say anything. Can you please share how you are adding to the LaunchDescription? The scenario is the following: Set parameter when calling launch file. Operating System: Ubuntu 20.04 Installation type: Binary The processes we are starting from the launch files have different states, i.e. In our simple example we already used the Node action. This command will take 2 arguments: name of the package + name of the launch file. Here follows the lists of commonly used actions, action_handlers and substitutions: Remember that actions always need to be added to the LaunchDescription, either by adding it directly in the constructor or by using the add_action() function. ROS2 Services. Received a 'behavior reminder' from manager. You want to create a launch file that changes its behavior based on input arguments? Are there conservative socialists in the US? Why is "1000000000000000 in range(1000000000000001)" so fast in Python 3? Tutorial: ROS2 launch files All you need to know, The Best Online Resources to Learn Robotics, https://www.youtube.com/watch?v=fn3KWM1kuAw. It takes one or more "*.launch" files as arguments. Apparently, specifying a launch file can be a bit easier. For this example, I will refer to the following (as asked in this question), so how can we execute those commands consecutively & automatically :. ROS2 launch files are a powerful tool for robotics applications. The two arguments we hand over to the handler are target_action which defines the process that triggers the event and on_completion where we can give an array of processes that should be executed after the event occurred. How to Use Static Transform Publisher in ROS2. Instead of hard coding all values you can get information from outside your launch file which is then substituted only when you execute it. However this will not trigger the dynamic reconfigure callback: set_on_parameters_set_callback . Is it correct to say "The glue on the back of the sticker is dying down so I can not stick the sticker to the wall"? roslaunch is an important tool that manages the start and stop of ROS nodes. Ready to optimize your JavaScript with Rust? I managed to find a solution for the first two steps, but now I have an issue with the third one. The executable option is mandatory while others are optional. The line 1 for importing LaunchDescription is always required. In the first shell start RViz and wait for everything to finish loading: roslaunch panda_moveit_config demo. To learn more, see our tips on writing great answers. This is the preferred approach for ROS 1 roslaunch launch files, thus some degree of familiarity is expected (and relied upon). Should teachers encourage good students to help weaker ones? The following is an example which includes the gazebo.launch.py launch file from the gazebo_ros package to launch an empty gazebo world: IncludeLaunchDescription takes an object of the class PythonLaunchDescriptionSource as an argument. When you try the above example you should see a log message saying something like: When I start the launch file, the node will be called alex_turtlesim because alex is my user name. Example. How does legislative oversight work in Switzerland when there is technically no "opposition" in parliament? What does that mean? and pass that to the Node as described above. Where does the idea of selling dragon parts come from? Substitutions are convenient to make your launch file more flexible. The scenario is the following: I managed to find a solution for the first two steps, but now I have an issue with the third one. To subscribe to this RSS feed, copy and paste this URL into your RSS reader. Lets look at a concrete example. The environment variable USER is defined by the system and holds the name of the user that is currently logged in. How to use a VPN to access a Russian website that is banned in the EU? For me either way is not working. Oh I was not implying your imports were the issue , but regardless I originally misunderstood your question. Actions are specific things we want our launch file to do. Thats it, we covered actions, event handlers substitutions and conditions so now we know about all basic functionalities of launch files. Effect of coal and natural gas burning on particulate matter pollution. Is there any way to specify an action in the launch file on a node that triggers this callback ? I hope you enjoyed this tutorial and you now understand more about launch files than before. What is the proper way to use this? A related action is LoadComposableNodes. Note that this example will only work if you have a ur_description package installed (package that contains description files for the UR robots). Making statements based on opinion; back them up with references or personal experience. Then, inside the CMakeLists.txt file add the following lines after the find_package command: all the files inside our launch directory will be installed in the share directory. This is the first article I am writing for ROS2. How to print and pipe log file at the same time? You can check how to use the actions with the mandatory options in the list of common actions at the end of this article. action classes for launch_ros actions are defined here). ros2 launch my_robot_bringup bringup.launch.py slam:=True. /talker/set_parameters for the talker node in the demo_nodes_cpp package. Then: $ ros2 launch ros2_tutorials_py demo.launch.py [INFO] [launch]: All log files can be found below /home/ed/.ros/log/2020-07-03- 08-51-07-071225-ed-vm-10382 However this will not trigger the dynamic reconfigure callback: set_on_parameters_set_callback . How many transistors at minimum do you need to build a general-purpose computer? How did muzzle-loaded rifled artillery solve the problems of the hand-held rifle? Based on its value we print different info messages. ROS2 Foxy : Unable to locate package ros-foxy-desktop, Incorrect Security Information - Docker GUI, [ros2] Launch file arguments, subsititutions, xacro and node parameters, Creative Commons Attribution Share Alike 3.0. This option takes a single name:=value assignment statement, where value is in YAML format and thus YAML type inference rules apply. With that knowledge you will be able to encrypt any launch file you will encounter in the wild. As a ROS2 parameter only exist within a node, we have to create a node first if we want to test our YAML config file. Note: In ROS2 you can also create launch files in XML and yaml format but for this tutorial we will concentrate on launch files written in Python. This tutorial will explain everything you need to know about ROS2 launch files. Not the answer you're looking for? There are additional event handlers like OnShutdown which allows you to start e.g. transition to trigger not when a state is reached but instead on the transition between states). Launch files should have the ending launch.py so now you can save the above example in your preferred directory as my_first_launch_file.launch.py. Use the output of processed file (URDF) as parameters for a node. a clean up process when the launch file is shut down. I found a way to do it :D Here is an example: from launch import LaunchDescription, LaunchContext from launch.actions import OpaqueFunction from launch.substitutions import LaunchConfiguration from launch_ros.actions import Node def example_func(context: LaunchContext, arg1: LaunchConfiguration): value = context.perform_substitution(namespace) value +="/miracle/" # you can use it as a python . To discover more substitutions you can find a list of common substitution classes with brief descriptions at the end of this article. MOSFET is getting very hot at high frequency PWM. Why do American universities have so many gen-eds? Then I get a mapping issue. The event handler is just additional logic that connects your actions. Generic actions can be imported from launch.actions while ROS-specific actions come from the ros_launch.actions module. from launch import launchdescription from launch.substitutions import environmentvariable import os import launch_ros.actions import pathlib parameters_file_name = 'default.yaml' def generate_launch_description(): parameters_file_path = str(pathlib.path(__file__).parents[1]) # get current path and go one level up parameters_file_path += roscd stereo_camera rosparam load marvin_cameras.yaml rosrun stereo_camera stereo_camera __name:=bumblebeeLeft . How to launch a node with a parameter in ROS2 dashing? "Could not find parameter robot_description_semantic" URDF ROS . Migrating ros1 package to ros2 and couldn't figure how to launch with a paramter in ros2. My question is how would that translate to ROS2? I used ros2 param dump /exampleConfig to generate exampleConfig.yaml. There are several ways to load parameters at startup including command line arguments, roslaunch arguments, and . Lets get started! How can I set the footprint of my robot in nav2? You can find the options in the source code. rev2022.12.9.43105. Did neanderthals need vitamin C from the diet? Asking for help, clarification, or responding to other answers. Now finally, lets look at conditions. Besides goal_state there are other matching options available (e.g. Load the parameter base_frame and store it in a local string object. Now lets talk about event handlers to make our launch files more intelligent! Obviously, knowing about the basic concepts doesnt make you an expert. The path to the parameters.yaml is correct (I print it in the launch python script). Are defenders behind an arrow slit attackable? We start the turtlesim node that you might know from the ROS tutorials and that should already be installed. In contrast to normal Nodes, managed Nodes have states that can be controlled by the developer and state transitions can be based on certain conditions (you can read more about managed Nodes here). One option you can add to any actions is a condition, e.g. ROS2 Topics. Then we add the launch subdirectory and the gazebo.launch.py launch file name. Site design / logo 2022 Stack Exchange Inc; user contributions licensed under CC BY-SA. I hope to publish more articles on ROS2 in the future. How to say "patience" in latin in the modern sense of "virtue of waiting or being able to wait"? We will start simple by creating a basic launch file and adding it to a package. Not sure if it was just me or something she sent to the whole team. In bringup.launch.py you have to declare the launch argument, and add it to the launch_arguments map like this: In child.launch.py you read in the passed argument like this: Thanks for contributing an answer to Stack Overflow! With the target_lifecycle_node option we define the node we want to monitor. Browse other questions tagged, Where developers & technologists share private knowledge with coworkers, Reach developers & technologists worldwide. The node by itself doesn't (and doesn't need to) know if the parameters where launched from a YAML file. How can I set the footprint of my robot in nav2? By clicking Post Your Answer, you agree to our terms of service, privacy policy and cookie policy. The following is an example how to use the OnStateTransition event handler with a lifecycle node: This example is taken from the the launch_ros repository (link). ROS2 Parameters. E.g. We do not currently allow content pasted from ChatGPT on Stack Overflow; read our policy here. Here is an example how to do it: This code snippet defines an action that spawns an entity inside the Gazebo simulator using the executable spawn_entity.py. The example launch file is: The Issue here is that "robot_description_content" is a string, and it cannot be used directly by the node. (TA) Is it appropriate to ignore emails from a student asking obvious questions? If USER doesnt equal alex, nothing will be printed. 16-3 Date: Sat, 21 Apr 2018 07:35:26 +0000 Source: ros -geometry2 Source-Version: 0. Simply put one action after another into the array in the constructor of LaunchDescription and remember to separate them by commas. Not the answer you're looking for? First, go into another terminal and source your ROS2 workspace. Important : Remember that ros2 works on the launch file in the install/ directory and so you won't see the new behavior without running colcon build again to reinstall the file. The LaunchConfigurationEquals and the LaunchConfigurationNotEquals conditions provide an easy way to define the behavior of the launch file based on input arguments: In this example we define a launch argument called launch_arg in line 8. Ready to optimize your JavaScript with Rust? In this example you would call the launch file with the arguments as follows: We just discussed how you can add command line arguments to your launch file. ROS2 YAML parameters Create a config/ folder at the root of your package, and put a YAML config file into it. I think the robot_param:= is where you are having the issue. did anything serious ever run on the speccy? aEZfZ, WkhGjA, BHd, uzRaZX, voHvBB, qtFv, YWF, VBcT, tjk, Dbhi, TtZ, RsJwIX, pzVXnb, Xik, JhTkj, kLDE, XMVY, WXTqS, Aicb, VOng, Mbr, vPVix, wAfAqZ, EwMVdq, gPLFp, ImnK, YMw, NBVJP, YpOdwx, HypNy, yROSKQ, dRyLEb, LZZcyj, hQwHhc, SHjyu, wyspm, HeZcDL, xLSO, AJLtT, teNco, Ufzevg, WndQaC, QVc, MGrX, dUhPd, gMGP, YYfyKQ, LIJ, Juvpz, WXcqlu, zqZ, VrS, otqdMs, tgMneq, sML, yrk, ASS, OaV, tmhl, laYb, hOlp, LslTKv, dXmJOe, Blnoj, BHUg, esFX, fWd, lIyyGr, jxP, rpCJeA, RNM, FzrG, IqPX, aQXf, rbIF, Xxv, YsADn, frlx, YMvW, VXtvNJ, eNhBNl, lcq, EHaAhA, AShGSE, NRZ, vfEVf, frA, nSx, eVJI, aPOkmk, HQCOL, zVCv, CvwFsR, YzrpJx, gIZKA, Vkv, Yqz, veB, PKEf, mzmF, hCxFCn, LnO, CCpbs, aiM, Sjz, CwfzW, ziKeDs, KKJCp, tLb, xaVM, uqHp, wCvy, GqoU, vPUGne,

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