The ROS1 Nav Stack tutorial quickly demonstrates how our spatial intelligence algorithms can be effectively integrated with the de facto standard software framework for robotics. /odom and /base_footprint frames, so you actually do not need anything Attaching an object to the body means that the object will move when the robot moves; this functionality allows motion planners and the trajectory monitor to deal with situations where the robot has grasped something and avoiding collisions between the grasped object and the environment becomes important. The job of navigation stack is to produce a safe path for the robot to execute, by processing data from odometry, sensors and environment map. available in This package implements a simple action interface to a safe arm trajectory controller. serialization method for the pair (odometry, ROS), as defined in Builder ros-indigo-pr2-navigation, ros-indigo-pr2-common, Privacy | Terms of Service | Accessibility, Click to share on Facebook (Opens in new window), Click to share on Twitter (Opens in new window), Click to share on LinkedIn (Opens in new window). 7.7.2. The erratic_navigation_apps package contains example launch files that will start the navigation stack in three different configurations: The erratic_teleop package contains a keyboard teleoperation node for driving the robot (e.g. 2D Nav Goal button in RVIZ interface will allow us to easily send navigation Those are; mapping, localization, path planning and obstacle avoidance. contains standard values for the parameters. At a very high level, there are four major steps involved in navigation. robot should navigate towards that point on the map. Start the AMCL estimator, passing the laser scans topic as paramter: $ rosrun amcl amcl scan:=/base_scan Now, open RVIZ. python3-compatible stacks for MORSE-ROS installed. You'll also see how to publish markers based on this information. A number of tutorials related to navigation can be found in the documentation on the ROS Wiki. The purpose of doing this is to enable our robot to navigate autonomously through both known and unknown environments (i.e. ROS Online Course : This ROS course is a ROS robot programming guide based on the experiences we had accumulated from ROS projects like TurtleBot3, OpenCR and OpenManipulator. The isaac_ros_navigation_goal ROS2 package can be used to set goal poses for the robot using a python node. Tutorials on all of those topics can be found on The erratic_navigation package contains configuration and launch files for running the navigation stack on Erratic robot. This guide seeks to give some standard advice on how to tune the ROS Navigation Stack on a robot. Created using, $MORSE_PREFIX/share/morse/examples/tutorials/ros_navigation, # An odometry sensor to get odometry information, $MORSE_PREFIX/share/morse/examples/tutorials/ros_navigation/maps/, $MORSE_PREFIX/share/morse/examples/tutorials/ros_navigation/morse_2dnav, "$(find morse_2dnav)/morse_move_base/costmap_common_params.yaml", "$(find morse_2dnav)/morse_move_base/local_costmap_params.yaml", "$(find morse_2dnav)/morse_move_base/global_costmap_params.yaml", "$(find morse_2dnav)/morse_move_base/dwa_planner_ros.yaml". This tutorial explains the use of the planning description configuration wizard, which automatically generates a stack containing configuration and launch files used in arm planning. Start the AMCL estimator, passing the laser scans topic as paramter: $> rosrun amcl amcl scan:=/scan. ROS navigation tutorial Hello, I'm currently learning ROS navigation stack, and I would like to create a simulated mobile robot, and use this model to generate a map and navigate through it. The environment representation contains a robot, objects that are sensed in the world or inserted manually into the environment and a collision representation of the world. Your email address will not be published. (<=Groovy), This tutorial is a step by step development of a planning request adapter using a simple smoothing filter as an example. This set of tutorials will show you how to compute kinematics for the PR2 arms. This set of tutorials will show you how to create and use an environment representation for motion planning. Localization, mapping, and navigation are fundamental topics in the Robot Operating System (ROS) and mobile robots. This should tested with previous ROS versions down to ROS Fuerte. We will also learn how to specify a region of tolerance for the pose goal using a geometric shape. $MORSE_PREFIX/share/morse/examples/tutorials/ros_navigation/maps/. while in SLAM mode). Tutorials for the evarobot can be found in the evarobot_navigation tutorials page. A tutorial to writing a custom local planner to work with the ROS1.This tutorial will be structured in a similar manner to ROS Global Path Planner. A tutorial teaching how to set up and run the arm_navigation stack on the Barrett WAM. Learn how to create your own trajectory filter. full robot TF tree (it is required by the ROS localization stack to know where This tutorial describes the steps necessary to make arm_navigation stack running on an arm other than PR2. To do so, we first need to add a laser scanner to our PR2 model. more to display than the /base_footprint of your robot in RVIZ. ROS Index. Topics covered include: sending transforms using tf, publishing odometry information, publishing sensor data from a laser over ROS, and basic navigation stack configuration. Generating collision free cubic spline trajectories, Filtering joint trajectories using the trajectory_filter_server, Utilizing Trajectory Filters with a Generated Arm Navigation Package, Displaying joint paths for the entire robot in rviz, Running the arm_navigation stack on the Barrett WAM (Fuerte), The IROS 2011 Tutorial on Motion Planning for Real Robots, Automatically Generating Arm Navigation Configurations. This tutorial describes how to get started with using the arm navigation stack to plan and control a robot arm. Buy HIWONDER Quadruped Robot Bionic Robot Dog with TOF Lidar SLAM Mapping and Navigation Raspberry Pi 4B 4GB kit ROS Open Source Programming Robot-- . an initial pose estimate (ie an estimate of the pose of the robot in MORSE) Are you using ROS 2 (Dashing/Foxy/Rolling)? Are you using ROS 2 (Dashing/Foxy/Rolling)? Known supported distros are highlighted in the buttons above. keys: the transform should update accordingly in RVIZ. (displayed in RVIZ). They need to be further filtered before they can be sent out to a controller with the expectation of achieving good tracking. This set of tutorials will show you how to execute desired trajectories on the PR2 arms in a safe manner. If you are running Ubuntu, you can simply install the packages The tutorial has also been successfully This set of tutorials will show you how to move the PR2 robot arm to cartesian and joint goal positions while avoiding collisions (all sections are taken from the tutorial of move_arm). that you can find in module. Your email address will not be published. SimonLee9/gps-waypoint-based-autonomous-navigation-in-ros-tutorial. We base the tutorial on ROS Indigo. The typical tutorials in ROS give high-level information about how to run ROS nodes to performs mapping and navigation, but . The odometry sensor automatically publishes the TF transformation between the This tutorial provides an example of publishing odometry information for the navigation stack. Run it by first starting a ROS core (roscore) and then morse run This tutorial will teach you how to display a robot model in rviz and visualize joint paths for any set of joints on the robot. You need to have a working installation of ROS and also have the This tutorial explains the planning components visualizer in the move_arm package, and how it may be used to interact with a robot. In this tutorial, you. In this tutorial, we will use a simple action client to get the move_arm node to move the arm to a joint goal. You can find information In this tutorial, we will use the action client to send a pose goal for the move_arm node to move the arm to. However, it is very complex to learn. This tutorial describes the steps necessary to make arm_navigation stack running on an arm other than PR2 Automatically Generating Arm Navigation Configurations Tutorials on the planning components visualizer and planning description configuration wizard. Home. This tutorial requires carter_2dnav, carter_description, and isaac_ros_navigation_goal ROS packages which are provided as part of your Omniverse Isaac Sim download. You should now see the full roslaunch morse_2dnav nav.launch. . The ROS 2 Navigation Stack is a collection of software packages that you can use to help your mobile robot move from a starting location to a goal location safely. In Stock. navigation in local odometric frame without a map and localization. GitHub - ros-planning/navigation2_tutorials: Tutorial code referenced in https://navigation.ros.org/ ros-planning navigation2_tutorials master 1 branch 0 tags Go to file Code Ryujiyasu Humble ( #54) 7d67208 on May 27 28 commits nav2_costmap_filters_demo Support Speed Filter in costmap filters demo ( #18) 2 years ago nav2_gradient_costmap_plugin This tutorial will show you how to use the trajectory filtering service provided by the trajectory filter server. $MORSE_PREFIX/share/morse/examples/tutorials/ros_navigation. In this tutorial, you will learn to configure the joint trajectory filter node to generate collision free cubic spline trajectories. Source code for all the tutorials presented here and most of the configuration files for the tutorials can also be found in the pr2_arm_navigation_tutorials package. Navigation and SLAM Using the ROS 2 Navigation Stack In this ROS 2 Navigation Stack tutorial, we will use information obtained from LIDAR scans to build a map of the environment and to localize on the map. This tutorial will walk you through the launch files generated by the planning description visualization wizard and describe aspects you may wish to change for your robot. Restart the simulation with morse run nav_tutorial. You should be familiar with the basic usage of ROS and how to use TF and Packages. This tutorial will show you how to specify path constraints for move_arm. You can move the camera around with WASD + RF (up-down). This section contains information on configuring particular robots with the navigation stack. In our latest ROS 101 tutorial - ROS Navigation Basics - we'll cover some of the key concepts in what makes up an autonomous robot, and walk you through a simulated example using Gazebo and Rviz. Move around the robot in the simulation using the keyboard to fill the map (displayed in RVIZ). To rotate it, bring up all needed nodes and topics. To use navigation stack with stage, check the navigation_stage package. 15 subscribers The following repository provides a tutorial of the ros navigation stack configuration, including inflate layer, obstacle layer, 3d obsctacle detection, local and global. RVIZ. Further Learning . Sold by Freenove and ships from Amazon Fulfillment. it would be /robot/odometry). Visit move_base requires numerous settings to be set. You should see the frames /odom and /base_footprint connected The ROS navigation stacks provide a Monte-Carlo based module for localisation estimation called amcl. Restart the simulation with We also assume you know how to use the MORSE Builder API to equip your robot This tutorial shows how to use the ROS navigation stack to build a map and make Now, move the robot in the simulator with the arrow keys. torso in our case) and the URDF file of our robot as input. Lets create a first simple scenario script: a PR2 in a kitchen environment, a This tutorial will show you how to use the environment server with laser collision map data to check whether a given robot state is collision free, within the joint limits and satisfies joint or cartesian constraints. keyboard actuator to move it around, and an Odometry sensor to get some odometry feedback. This tutorial will show you how to check whether an input joint trajectory is in collision, violates joint limits or satisfies constraints. This set of tutorials will show you how to visualize the state and trajectories of the robot using the rviz visualizer. You can now run the ROS GMapping stack: rosrun gmapping slam_gmapping scan:=/base_scan _odom_frame:=/odom. Nothing to show {{ refName }} default View all branches. Enter search terms or a module, class or function name. This tutorial will show you how to get information about the links and joints that a kinematics solver deals with. This tutorial describes methods by which known objects can be attached to a robot's body. This tutorial will show you how to use a kinematics node to solve the inverse kinematics and get the joint positions for a desired cartesian position of the PR2 arms. Make any changes to the parameters defined in the launch file found under isaac_ros_navigation_goal/launch as required . This tutorial provides examples of sending two types of sensor streams, sensor_msgs/LaserScan messages and sensor_msgs/PointCloud messages over ROS. also useful. Writing A Global Path Planner As Plugin in ROS: This tutorial presents the steps for writing and using a global path planner in ROS as a plugin. Check the PR2 Builder script source Copyright 2009-2010, LAAS-CNRS/ONERA ; 2010-2015, LAAS-CNRS. Have a good topic for our next tutorial? In RVIZ, set the Fixed frame to /odom. Please let us know in the comments! The official steps for setup and configuration are at this link on the ROS website , but we will walk through everything together, step-by-step, because those instructions leave out a lot of . Are you using ROS 2 (Dashing/Foxy/Rolling)? Tutorials on the planning components visualizer and planning description configuration wizard. navigation_tutorials - ROS Wiki melodic Show EOL distros: Documentation Status navigation_tutorials: laser_scan_publisher_tutorial | navigation_stage | odometry_publisher_tutorial | point_cloud_publisher_tutorial | robot_setup_tf_tutorial | roomba_stage | simple_navigation_goals_tutorial Package Links FAQ Change List Reviews Dependencies (8) BUILD_ROS_SUPPORT CMake option is enabled when building MORSE. It is also able to send user-defined goal poses if needed. General Tutorials Navigation2 Tutorials Camera Calibration Get Backtrace in ROS 2 / Nav2 Profiling in ROS 2 / Nav2 Navigating with a Physical Turtlebot 3 (SLAM) Navigating While Mapping (STVL) Using an External Costmap Plugin Dynamic Object Following Navigating with Keepout Zones Navigating with Speed Limits Groot - Interacting with Behavior Trees We tried to. The ROS navigation stacks include the powerful gmapping module that allows us to easily build 2D maps using SLAM techniques. If you are new to ROS, it may be best to start your journey at the beginning with ROS 101: Getting Started With Ubuntu. remapping as well as the robot state publisher. You can now set a navigation goal by clicking the 2D Nav Goal button. Tutorial: Navigation Fetch & Freight Research Edition Melodic documentation Tutorial: Navigation Once you have Fetch or Freight running, you can start navigating. following line to your launch file to start a map server with your map: You do not need the gmapping node anymore; you can kill it. Start the AMCL estimator, passing the laser scans topic as paramter: $> rosrun amcl amcl scan:=/base_scan Now, open RVIZ. document.getElementById( "ak_js_1" ).setAttribute( "value", ( new Date() ).getTime() ); Clearpath Robotics Inc. All rights reserved. The packages are located under the directory ros_workspace/src/navigation/. This tutorial provides a guide to using rviz with the navigation stack to initialize the localization system, send goals to the robot, and view the many visualizations that the navigation stack publishes over ROS. and add the following new section to your nav.launch file: Run your launch script with roslaunch morse_2dnav nav.launch. Restart the simulation with the map server enabled. main. We can now build a first map of our environment. These tutorials also show an example of how the motion_planning_environment can be used for checking collisions. In order to post comments, please make sure JavaScript and Cookies are enabled, and reload the page. The ROS Navigation Stack is a collection of software packages that you can use to help your robot move from a starting location to a goal location safely. navigation_tutorials. You should see the Using a planning adapter inside of MoveIt. In this tutorial we show how you can use the planning scene architecture with the environment monitor, as well as code in the planning_environment stack to check state validity - whether or not a given state is within the joint limits, or in collision with the robot's other links or the environment. This tutorial will show you how to use a planning request adapter with MoveIt. Maximizing the performance of this navigation stack requires some fine tuning of parameters, and this is not as simple as it looks. What do I need to work with the Navigation Stack? odometry information on the /odom topic, using the default Check out the ROS 2 Documentation, Wiki: navigation_tutorials (last edited 2010-10-13 18:59:57 by MeloneeWise), Except where otherwise noted, the ROS wiki is licensed under the, https://github.com/ros-planning/navigation_tutorials, https://github.com/ros-planning/navigation_tutorials.git, https://github.com/ros-planning/navigation_tutorials/issues, Author: Maintained by Eitan Marder-Eppstein, Maintainer: William Woodall . Restart the simulation with the map server enabled. Gives an overview of the common industrial trajectory filters and shows how to apply them to an auto-generated arm navigation package. will use the PR2 robot, but any robot (with an URDF file to describe it But what does all of this mean? SLAM ). Fetch and Freight ship with configurations for using the ROS Navigation Stack. your $ROS_PACKAGE_PATH. The packages are located under the directory ros_workspace/src/navigation/. Edit default.py to add a SICK sensor, configured to approximate the PR2 Hokuyo laser scanners: We can now build a first map of our environment. The ROS Wiki is for ROS 1. rosrun gmapping slam_gmapping scan:=/base_scan _odom_frame:=/odom. ROS Navigation Hardware Requirements While the Navigation Stack is designed to be as general purpose as possible, there are three main hardware requirements that restrict its use: It is meant for both differential drive and holonomic wheeled robots only. to know how it is done, or read the PR2 documentation to know which other PR2 models are available. Wiki: arm_navigation/Tutorials (last edited 2013-01-05 14:36:51 by IsuraRanatunga), Except where otherwise noted, the ROS wiki is licensed under the, Automatically configuring and using arm navigation (Electric), Using the Planning Scene architecture (Electric), Moving the PR2 robot arm using motion planning (Diamondback and Electric), Using kinematics for the PR2 robot arm (Diamondback and Electric), Environment representation for motion planning (Diamondback), ''Safe'' trajectory control for the PR2 arms (Diamondback), Filtering trajectories using the trajectory filter node (Diamondback), Visualizing robot state and trajectories (Diamondback), Planning Description Configuration Wizard, Understanding and adjusting the auto-generated arm navigation application, Adding Virtual Objects to the Planning Scene, Understanding the arm navigation Planning Scene Architecture, Specifying path constraints for motion planning, Getting started with kinematics for the PR2, Getting kinematic solver info from a kinematics node, Collision free inverse kinematics for the PR2 arms, Making collision maps from self-filtered laser data, Checking collisions for a joint trajectory, Checking collisions for a given robot state, Adding known objects to the motion planning environment, Converting arm navigation trajectory filters into MoveIt Planning Request Adapters. http://www.ros.org/wiki/ROS/Tutorials. Wiki: navigation/Tutorials (last edited 2019-07-18 19:53:49 by AnisKoubaa), Except where otherwise noted, the ROS wiki is licensed under the, Configuring and Using the Navigation Stack, Configuring and Using the Global Planner of the Navigation Stack, Writing a local path planner as plugin in ROS, Setup and Configuration of the Navigation Stack on a Robot, Writing A Global Path Planner As Plugin in ROS, navigation with SLAM for building a map of the area. In this tutorial we show how to add virtual objects to the Planning Scene and to check state validity against the virtual objects. with components. One who is sophomoric about . The ROS navigation stacks provide a Monte-Carlo based module for localisation The motion plans that are output from motion planners are often not very smooth. You can display the robot geometry by adding a Robot Model display in RVIZ. The The subdirectory morse_move_base Click here for instructions on how to enable JavaScript in your browser. Start your launch file: roslaunch morse_2dnav nav.launch. No version for distro humble. /move_base/DWAPlannerROS/global_plan) to display the computed path in Could not load branches. to adapt some of the instructions. In this tutorial, we will use the action client to send a pose goal for the move_arm node to move the arm to. press Ctrl while moving the mouse. your robot navigate in MORSE. You should also know about launchfiles and topic The ROS navigation stacks provide a Monte-Carlo based module for localisation estimation called amcl. by clicking on the 2D Pose Estimate button in RVIZ interface. ROS Tutorial for Beginners ROS Gmapping | SLAM 1 | How to map an environment in ROS | ros mapping | ROS Tutorial for Beginners ROBOMECHTRIX 9.26K subscribers Subscribe 297 24K views 1. ROS NAVIGATION IN 5 DAYS #1 - Course Overview & Basics Concepts - YouTube What is the ROS Navigation Stack? Check out the ROS 2 Documentation. Using cob_arm_navigation to plan collision-free arm movements for Care-O-bot 3. Branches Tags. www.ros.org/wiki/move_base for details. The ROS 101: ROS Navigation Basics tutorial will show you how to: Install ROS simulation, desktop and navigation packages It is able to randomly generate and send goal poses to Nav2. This tutorial will describe using the Planning Scene Architecture to check whether or not an entire Joint Trajectory is valid: focusing on whether it obeys joint limits and avoids collision. This guide is in no way comprehensive, but should give some insight into the process. To get started on your own journey to the future of visual SLAM download the SDK here and check out the tutorial here. (rosrun rviz rviz), select /odom as Fixed frame, and add a TF Our first step is to get a robot to show up in RVIZ. humble galactic foxy rolling noetic melodic. This tutorial provides a guide to using rviz with the navigation stack to initialize the localization system, send goals to the robot, and view the many visualizations that the navigation stack publishes over ROS. Start the AMCL estimator, passing the laser scans topic as paramter: Now, open RVIZ. These are needed to export the full robot joint The controller will execute a desired trajectory only if the trajectory will not result in self collisions or a collision with the environment. Start your launch file: roslaunch morse_2dnav nav.launch. by Chris Bogdon | Feb 17, 2016 | Teaching and Learning | 0 comments. In our latest ROS 101 tutorial ROS Navigation Basics well cover some of the key concepts in what makes up an autonomous robot, and walk you through a simulated example using Gazebo and Rviz. start the robot_state_publisher for us: Edit manifest.xml and copy-paste the code below: Edit nav.launch and copy-paste this code: Lastly, build the pr2.urdf file in your node by running: Restart the MORSE simulation and launch your new ROS node with Move the robot within MORSE with the arrow Using cob_arm_navigation to plan collision-free arm movements for Care-O-bot 3. This is a powerful toolbox to path planning and Simultaneous localization and. Learn to use the planning scene warehouse viewer, a GUI application for editing, loading, and saving planning scenes and trajectories. Known objects are shapes that have been recognized by a semantic perception pipeline or are known to exist at particular positions by a system designer. the ROS navigation stack. If youve worked with ROS and robots, theres a good chance youve heard of gmapping, localization, SLAM, costmaps and paths. Also experience with RVIZ is morse run nav_tutorial. See: http://wiki.ros.org/navigation_tutorials http://wiki.ros.org/navigation/Tutorials About Tutorials about using the ROS Navigation stack. PR2 TF tree. Clearpath Robotics Launches Outdoor Autonomy Software, Open Letter: General Purpose Robots Should Not Be Weaponized, Podcast: Clearpath Talks TurtleBot4 and ROS 2, TurtleBot 4: Mapping & Navigation with ROS 2 Navigation Stack, Install ROS simulation, desktop and navigation packages, Build a map of a simulated world using gmapping, Localize a robot using the AMCL localization package. In this tutorial we describe attaching virtual objects to the robot's body - these are objects that are assumed to move with the robot instead of being static in the environment. Then, we need to add a motion controller to our robot. This tutorial will go into the new formulation of arm navigation 1.0, focusing particularly on the Planning Scene. that should be similar to the one provided with the tutorial in Restart the simulation with the map server enabled. All the scripts, nodes and launch files mentioned in this tutorial are Then, to make our lives easier, we create a new ROS package and a launch file that will This tutorial will explain which launch files need to be started to plan collision-free movements for the care-o-bot mobile manipulator. This set of tutorials will show you how to use a trajectory filter node to filter joint trajectories. For more tutorials, be sure to check out our Support Knowledge Base where you will find step-by-step guides for all Clearpath robots, as well as ROS, PR2 and Turtlebot. In the tutorials below, we will cover the ROS 2 Navigation Stack (also known as Nav2) in detail, step-by-step. [ROS Tutorials] Introduction to Mapping and Navigation #2 4,082 views Feb 20, 2018 12 Dislike Share The Construct 35.8K subscribers Introduction to Mapping and Navigation In this video I have. $49.95. If not, please follow first the ROS and MORSE tutorial. We can now build a first map of our environment. This is useful, e.g., if you want to execute tasks like moving a glass with water in it. Publishing Odometry Information over ROS This tutorial provides an example of publishing odometry information for the navigation stack. together, on a black background. required dependencies. We can use it to localize our robot in the map. This tutorial describes how to convert an Arm Navigation Trajectory Filter Plugin into a MoveIt Planning Request Adapter that can be compiled in a catkin package. about this in the installation notes. They contain the required launch file, navigation parameters, and robot model. Move the robot around in the simulation using the keyboard to fill in the map (displayed in RVIZ). You can now run the ROS GMapping stack: rosrun gmapping slam_gmapping scan:=/base_scan _odom_frame:=/odom. You can add a display Path (with topic Now, open RVIZ. The ROS Wiki is for ROS 1. Readme 216 stars 21 watching 114 forks Releases 9 tags Packages No packages published Contributors 5 C++ This tutorial provides a guide to set up your robot to start using tf. We can use it to localize our robot in the map. We can finally get the robot to autonomously navigate in our environment. armature_pose sensors of the arms, head and The isaac_ros_navigation_goal ROS package can be used to set goal poses for the robot using a python node. ros-indigo-control-msgs and ros-indigo-viz. The ROS Wiki is for ROS 1. Check out the ROS 2 Documentation. Save my name, email, and website in this browser for the next time I comment. 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