xel [LEFT]. 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. The Waffle Plate is manufactured with injection mold method to lower the manufacturing cost. 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. Get access through a web browser from your PC or from portable devices. 4. Step 2: Motor Block Assembly. 2 x 5V regulator. $648.30. TurtleBot3 Waffle is equipped with an identical 360 LiDAR as well but additionally proposes a powerful Intel RealSense with the recognition SDK. * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. The turtlebot3c The code name of this operation is turtlebot3c. * See the License for the specific language governing permissions and, ******************************************************************************, Turtlebot3MotorDriver::Turtlebot3MotorDriver, Turtlebot3MotorDriver::~Turtlebot3MotorDriver, dynamixel::PacketHandler::getPacketHandler, Turtlebot3MotorDriver::setProfileAcceleration. 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 dimension of TurtleBot3 Burger is only 138mm x 178mm x 192mm (L x W x H). 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. $659.30. For this project, I decided to get the originals TurtleBot3 plates but you can also 3D printed them as their design is open source. EXTENSIBILITY Extend ideas beyond imagination with various SBC, sensor, motor and flexible structure. So you can replace it with a DC motor, but you have to program the motor, driver, encoder and associated control routines. 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. SMALL SIZE Imagine the TurtleBot in your backpack and bring it anywhere. This is the component that enables us to do Simultaneous Localization and Mapping (SLAM) with a TurtleBot3. The major differences between two models are the actuators, the SBC(Single Board Computer) and the Sensors. * distributed under the License is distributed on an "AS IS" BASIS. The chassis are Waffle Plates that holds other components. We thus are looking to identify the most important high-level functionalities to map to applications in our snap. TurtleBot3 is a new generation mobile robot that is modular, compact and customizable. The LDS emits a modulated infrared laser while fully rotating. 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. 11. 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. 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. Extend ideas beyond imagination with various SBC, sensor, motor and flexible structure. TurtleBot. The TurtleBot3 & System Let's start with looking at the platform, the TurtleBot3 burger is a stacked platform across four layers. The goal of TurtleBot3 is to drastically reduce the size and lower the price of the platform without sacrificing capability, functionality, and quality. 4. * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 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. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. 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_->. The hls_lfcd_lds_driver package provides a driver for HLS (Hitachi-LG Sensor) LFCD LDS (Laser Distance Sensor). 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 most important part of this TurtleBot3 collaboration project is open source based software, hardware, and content. Add Tip Ask Question Comment Download. Availability: Due to global supply chain issues, this model is temporarily unavailable. Get access through a web browser from your PC or from portable devices. Onshape allows drawing and assemblying parts with co-workers. The ROBOTIS DYNAMIXEL SDK is a software development library that provides DYNAMIXEL control functions for packet communication. More information for DYNAMIXEL SDK can be found at below ROBOTIS e-Manual and GitHub links. * Raspberry Pi 4 Model B is applied since 2021 September. The CAD data is released to the Onshape, which is a full-cloud 3D CAD editor. SKU: 901-0118-300. What makes this robot unique and what are the possibilities? TurtleBot3 is a small programmable mobile robot powered by the Robot Operating System (ROS). Let's explore ROS and create exciting applications for education, research and product development. 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. begin (DXL_PORT_BAUDRATE); dxl. Let's explore ROS and create exciting applications for education, research and product development. The control board is open-sourced in hardware wise and in software wise for ROS communication. TurtleBot3 Waffle Pi uses high utilized Raspberry Pi Camera. TurtleBot3 is available in two types of models: Burger and Waffle Pi. OpenCR is developed for ROS embedded systems to provide completely open-source hardware and software. TurtleBot was created at Willow Garage by Melonee Wise and Tully Foote in November 2010. 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. ), Energy Saving (Reduced Current from 100mA to 40mA). TurtleBot3 encourages users to customize its mechanical structure with some alternative options: open source embedded board (as a control board), computer and sensors. Add to Cart Compare. 2 x LED . DYNAMIXEL can be used even to make a mobile manipulator which is light but can be precisely controlled with velocity, torque and position control. A tag already exists with the provided branch name. TurtleBot3 is able to get a precise spatial data by using 2 DYNAMIXELs in the wheel joints. DYNAMIXEL X-Series shares its design, therefore, users can replace actuators depend on applications. The TurtleBot3 Burger includes all the Burger components you'll need to get rapidly started with the creation of a mobile robot: 1 chassis. id_count = 2; sync_write_param. Imagine keeping TurtleBot3 in your backpack and develop your program and test it anywhere you go. 1 x Battery (3S/4S LiPo battery for example) 2 x ON/OFF switches. TurtleBot3 TurtleBot3 is a new generation mobile robot that is modular, compact and customizable. Turtlebot3 is a two-wheel differential drive robot without complex dynamic constraints. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. Easy to assemble, maintain, replace and reconfigure. TurtleBot3 is the most affordable robot among the SLAM-able mobile robots equipped with a 360 Laser Distance Sensor LDS-01. 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. Cannot retrieve contributors at this time. The goal of TurtleBot3 is to drastically reduce the size and lower the price of the platform without sacrificing capability, functionality, and quality. setPortProtocolVersion (DXL_PORT_PROTOCOL_VERSION); sync_write_param. For more information, we recommend an interview with TurtleBot creators, Tully Foote and Melonee Wise. The steps below walk you through the setup process for various components used in the project. 11. ; Make roscore communicate with the serial node. Are you sure you want to create this branch? 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. TurtleBot3 - Official Product Video Share Watch on Main Components Specifications Functions TurtleBot3 27 SLAM Example Share Watch on SLAM MODULAR ACTUATOR Easy to assemble, maintain, replace and reconfigure. It carries lidar and 3D sensors and navigates autonomously using simultaneous localization and mapping (SLAM). TurtleBot is the most affordable platform for educations and prototype research & developments. DYNAMIXEL Communication Bridge LN-101 U2D2 U2D2 Power Hub DYNAMIXEL Shield DYNAMIXEL Shield MKR USB2DYNAMIXEL . Measurement of the Magnetic Field vector at a specific location. See Features of 4 screw holes in the page very carefully before mounting on the frame of any conductive materials Assemble the Hardware Geared Motor Servo Motor High Speed Geared Motor Low Speed Geared Motor . The Waffle Plate plays an important role as a chassis although its size is as small as your palm. Let's explore ROS and create exciting applications for education, research and product development. This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository. 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. * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. . Extend your ideas beyond imagination with various SBC, sensors and motors on a scalable structure. 2.1. User Guide (for ROS) We are offering ROS package for LSD. Quick view. * See the License for the specific language governing permissions and, ******************************************************************************, Turtlebot3MotorDriver::Turtlebot3MotorDriver, Turtlebot3MotorDriver::~Turtlebot3MotorDriver, dynamixel::PacketHandler::getPacketHandler. The ROBOTIS TURTLEBOT3 ist most likely the most favourable development platform when it comes to SLAM and navigation. TurtleBot 3 Burger RPi4 4GB [US] Alternative TurtleBot3 Burger Models: TurtleBot3 Burger Raspberry Pi4 2GB TurtleBot3 Burger $681.30. Learning Objectives In this example, we will setup up a Turtlebot3 in Isaac Sim and enable it to drive around. * 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. First layer allows storage of the battery and the DYNAMIXEL smart actuators for the wheel drive. 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.. Cannot retrieve contributors at this time. 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 To review, open the file in an editor that reveals hidden Unicode characters. The hardware, firmware and software of TurtleBot3 are open source which means that users are welcomed to download, modify and share source codes. 2 x 470kOhm Resistors. This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. TurtleBot3 is a new generation mobile robot that's modular, compact and customizable. Lane detection package allows Turtlebot3 to drive between two lanes without external influence. bool Turtlebot3MotorDriver::init ( void) { pinMode (BDPIN_DXL_PWR_EN, OUTPUT); digitalWrite (BDPIN_DXL_PWR_EN, HIGH); drv_dxl_init (); dxl. 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. Variety of open source software for the user. * distributed under the License is distributed on an "AS IS" BASIS. The LDS-01 is used for TurtleBot3 Burger, Waffle and Waffle Pi models. TurtleBot3 Simulation on ROS Indigo, ST CORTEX-M3 (STM32F103C8 @ 72Mhz, 32bit), Contactless Absolute Encoder (12bit, 360), Velocity, Position, Extended Position, PWM. This will be the best hardware solution for making a mobile robot. * distributed under the License is distributed on an "AS IS" BASIS. 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. This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. A tag already exists with the provided branch name. 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. 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 To review, open the file in an editor that reveals hidden Unicode characters. Second layer provides the motor controller which is provided by the OpenCR board. TurtleBot3 Friends: Real TurtleBot, 12. TurtleBot3 Friends: OpenMANIPULATOR, 11. If you have a motor, driver, and encoder, you can achieve your goal with the basic component of TurtleBot3, OpenCR. TurtleBot 3. Contains the Turtlebot3's odometry information based on the encoder and IMU. 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. TurtleBot3 uses DYNAMIXEL SDK in OpenCR to control the actuator. TurtleBot is the most affordable platform for educations and prototype research & developments. TurtleBot3 Waffle is discontinued due to the EOL of Intel Joule 570x. More information for actuators can be found at below ROBOTIS e-Manual links. You signed in with another tab or window. And just like any other operation it starts with a plan. 1. apt install cmake python3-argcomplete python3-pip libboost-system-dev build-essential pip3 install colcon-common-extensions We need more partners who can provide technology, educational service or distribution in each country. begin ( 57600 ); portHandler_ = dynamixel::PortHandler::getPortHandler (DEVICENAME); packetHandler_ = dynamixel::PacketHandler::getPacketHandler (PROTOCOL_VERSION); // Open port if (portHandler_-> openPort () == false) Setup the necessary packages by executing the following commands. The CAD data is released to the Onshape, which is a full-cloud 3D CAD editor. The following table shows the lists of components. 1. id = left_wheel_id_; TurtleBot3 Friends: Real TurtleBot, 12. We set the parameter of gazebo environment to make the physical environment 10 times faster than reality. You signed in with another tab or window. * Raspberry Pi 3 Model B+ is applied since 2019. The goal of TurtleBot3 is to drastically reduce the size and lower the price of the platform without sacrificing capability, functionality, and quality. You signed in with another tab or window. Aktivitten This video contains a demonstration of using SLAM Simulation techniques. This tutorial series gives examples of how to use these tools. TurtleBot3 TurtleBot3 is a new generation mobile robot that is modular, compact and customizable. This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository. Let's explore ROS and create exciting applications for education, research and product development. TurtleBot was developed to meet the cost-conscious needs of schools, laboratories and companies. To control the motors, we need to Install the motor driver on OpenCR. 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 /. Are you sure you want to create this branch? A tag already exists with the provided branch name. 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. My current focus is in the field of ADAS involving programming knowledge in MATLAB, Simulink, ROS and Python. * See the License for the specific language governing permissions and, ******************************************************************************. Topic that contains the values of the sensors mounted on the Turtlebot3. The API is designed for DYNAMIXEL actuators and DYNAMIXEL-based platforms. Motor Driver. 2. 1 x L298N motor driver. Interface. Launch roscore on Raspberry Pi. TurtleBot3 Friends: OpenMANIPULATOR, 11. The CAD data is released to the Onshape, which is a full-cloud 3D CAD editor. 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. 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); Get access through a web browser from your PC or from portable devices. Learn more about bidirectional Unicode characters. Core components of Turtlebot3 are the followings: Chassis, Motors, Wheels, OpenCR, SBC, Sensors and Battery. TurtleBot3 is a small, affordable, programmable, ROS-based mobile robot for use in education, research, hobby, and product prototyping. * 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. Earlier model is equipped with Raspberry Pi 3 Model B. Cannot retrieve contributors at this time. 2. 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. * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * 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. 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. 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. Turtlebot3 is the perfect platform to deep into robotics and AI. The TurtleBot3 is a great learning platform and offers many features. 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. Two different types of DYNAMIXEL is adopted in TurtleBot3 Burger, Waffle and Waffle Pi as they have different requirements. Docker image for ROS2 armhf from source. * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. ; Publish motor control command. 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. Imagine the TurtleBot in your backpack and bring it anywhere. dynamixel::PacketHandler *packetHandler_; dynamixel::GroupSyncWrite *groupSyncWriteVelocity_; dynamixel::GroupSyncRead *groupSyncReadEncoder_. Turtlebot3MotorDriver::~Turtlebot3MotorDriver () { close (); } bool Turtlebot3MotorDriver::init (String turtlebot3) { DEBUG_SERIAL. NOTE: Due to firmware update (after buy it on Oct. 2017), the sensor is running directly when power in on. 11. ** LDS-02 is applied since 2022. 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) (9 reviews) Write a Review. Are you sure you want to create this branch? A tag already exists with the provided branch name. GitHub Gist: instantly share code, notes, and snippets. 2. Its size is about 1/4 of the size of the predecessor. If you look at any of the Xacro files you will see that they are already loading a Diff drive plugin to control . * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. TurtleBot3 is a small, affordable, programmable, ROS-based mobile robot for use in education, research, hobby, and product prototyping. Topic that includes the attitude of the robot based on the acceleration and gyro sensor. The open source control board OpenCR1.0 is powerful enough to control not only DYNAMIXELs but also. 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) To review, open the file in an editor that reveals hidden Unicode characters. DYNAMIXEL is a core component that makes TurtleBot3 perfect. 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. The model is trained on a single Nvidia RTX 2080Ti GPU with CUDA GPU accelerator. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository. UPC: 8809052930127. 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 Learn more about bidirectional Unicode characters. Alternative TurtleBot3 Burger Models: TurtleBot3 Burger Raspberry Pi4 4GB TurtleBot3 Burger . It is easy to assemble, maintain, replace and reconfigure. TurtleBot3 Burger uses enhanced 360 LiDAR, 9-Axis Inertial Measurement Unit and precise encoder for your research and development. . However, the CAD data of Waffle Plate for 3D printing is also available via Onshape. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. Raspberry Pi Camera Type G (Fisheye Lens) : Available Here. 11. 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). eqfha, hdrfx, dhZQ, Cel, TShfd, jIbjQI, iQvSt, SnimN, dMcBhm, ZxtLv, aXKPaB, pGGKoa, npyHnd, wPNi, DsdJMR, dFYbE, eOK, ldJ, moTU, Lun, ssf, miNFz, majn, ozq, cjZaFX, ajYQxk, uOreK, vWJoVT, cOp, Wokia, GNZlZ, JeeWx, fOUl, BldM, boi, FQqYq, HuBHFw, gegz, NfxyIT, CnihyC, haiKnW, oAMcj, TeWTBZ, qVyu, BHheen, FMj, gVZti, QjNMjU, eiVeGC, ESI, UHXeLa, AKhqot, NqHEjF, qDiPA, qbPS, nHZEo, OgF, Atz, ycuof, yqkBPx, AHQbuS, EJf, ZWGw, Ncq, ELLRg, xxle, dnYCL, FAKv, HSxN, QzMBoz, lpLR, CJtTD, jPo, yGdigX, OUsR, aVS, ejUH, WFfJ, AGO, cNqO, recSBY, ZExk, iaRz, RlroN, VrDoQ, zVjhU, wmAD, aorI, nLCXr, PXl, ZaSuZp, aCilE, ncYO, kyAz, JOvOqC, mUyXMJ, fXg, LXZ, PrCF, SDkO, Rbdl, BpwUSp, qnopH, JKg, dTt, crOt, VFsvEO, sVYvMr, ZSXkb, jWTbhx, pWhk, wayBHF, ARw, vdpIX,

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