My workspace has a package named main_launch, whic The bridge will pass the message along transparently. I thought I had some problems with my configuration because the code does not produce errors to the person that wrote it. In my .sh file I have: roxterm --tab -e $SHELL -c "cd $CATKIN_WS; $srcdevel; export ROS_MASTER_URI='http://locahost:1234'; roscore -p 1234" When I do this, however, I get the following error in the roscore tab: I have tried setting all three of them. edit: The output of env | grep -i ros | sort. the environment variable MAKEFLAGS=-j1. This is a situation in which a DNS server (which is coupled with / knows how to deal with your DHCP server) would work best. ubuntu sudo nano ~/.bashrc () export ROS_IP=10.0.0.1 export ROS_MASTER_URI=http://10.0.0.1:1331 ubuntu ip #export ROS_HOSTNAME=localhost. Cookie Notice Hello, I have ubuntu 14.04 , Ros indigo and Gazebo 2.2.6. I would like to pass directly the environment variable ROS_MASTER_URI in the previous lines but I know it is not possible anymore. export ROS_IP = 10.94.124.230 export ROS_MASTER_URI = http://localhost:11311/ . http://wiki.ros.org/ROS/NetworkSetup. Or you could just put them in the ~/.bashrc file and it would happen on startup. It should be set to the XML-RPC URI of the master. It is based on the Qualcomm QRB5165 SoC, which is the new generation premium-tier processor for robotics applications. export ROS_MASTER_URI=http://192.168..1:11311 C++ #The IP address for the Master node= the IP address of Raspberry Pi export ROS_HOSTNAME=192.168..1 1 2 #The IP address for the Master node= the IP address of Raspberry Pi export ROS_HOSTNAME=192.168..1 3.2 on the Linux PC, type the following command: C++ sudo nano .bashrc 1 sudo nano .bashrc Yes, I did. Does it have the setuid bit set to start as root or any other user? Now, execute lines 46-47 to check the ROS environment variables ROS_IP and ROS_MASTER_URI currently configured in your Ubuntu PC. . Thank you very much! Viewed 636 times 0 I am trying to export ROS_MASTER_URI from a shell script and then launch roscore. To connect to a ROS master running on host name master_host and port 12000, use the following command: rosinit ( 'master_host' ,12000) If you know the entire Uniform Resource Identifier (URI) of the master, you can create the global node and connect to this master using this syntax: rosinit ( 'http://192.168.1.1:12000' ) Node Host Specification NOTE: If you use roslaunch, it will automatically start roscore if it detects that it is not already running (unless the --wait argument is supplied). PC rosrun turtlesim turtle_teleop_key . 105438 3.97 KB Please could you: what about talker and listener from the ros_tutorials package? I have tried to echo the variables and I get the expected result. . I installed win_ros hydro in windows 7, and I am trying to run a simple talker from a Visual studio 2012 professional project. Hi. ROS_MASTER_URI is a required setting that tells nodes where they can locate the master. I am running a gazebo_ros_control simulation, a simple robot with two movable joints. and our I am not doing anything to run it as root. You must have a roscore running in order for ROS nodes to communicate. It must be some stupid thing that I am missing, and I am not able to fix. The exception always appears with the ROS_MASTER_URI undefined. export ROS_MASTER_URI=http://<IP of laptop>:80 Therefore, running a roscore on a local laptop and accessing it from a container works. export ROS_MASTER_URI="http://192.168.8.110:11311" Alternatively, you can add them to the .bashrc and keep the values for future sessions: echo'export ROS_IP="192.168.8.110"' >> ~/.bashrc echo'export ROS_MASTER_URI="http://192.168.8.110:11311"' >> ~/.bashrc On the Raspberry open a terminal and ssh into your Raspberry pi. Instead of using IP addresses, you'd give hostnames to your robots and your PC, and then make sure the DNS server can resolve the hostnames to the IPs (and back). Hi all, As the title mentioned, I can not figure out the way to change the ROS_MASTER_URI for the a ros snap that I created by snapcraft. I am sure there is a way of doing it in one of the launch files I use but I didn't find yet a solution which is fast and clean. ubuntu qt-creator ros Share Improve this question Follow edited Sep 12, 2016 at 4:15 rbaleksandar export ROS_MASTER_URI=http://mia:11311/ PYTHONPATH ROS requires that your PYTHONPATH be updated, even if you don't program in Python! At first I though there was some configuration problem with the shell I use (zsh). I have to mention that I didn't defined the ROS_MASTER_URI globally in my system, due to I don't know how on windows. data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAKAAAAB4CAYAAAB1ovlvAAAAAXNSR0IArs4c6QAAAnpJREFUeF7t17Fpw1AARdFv7WJN4EVcawrPJZeeR3u4kiGQkCYJaXxBHLUSPHT/AaHTvu . re: still getting error: do you get the error for all ros nodes? export ROS_MASTER_URI=http://192.168.1.106:11311 export ROS_IP=192.168.1.107 After editing, input Ctrl+X to save and exit the nano editor. Could it be the version of the VS?. Please start posting anonymously - your entry will be published after you log in or create a new account. Is the program run as root? . ROS_MASTER_URI is a required setting that tells nodes where they can locate the master. I followed the instructions, but I always get an exception saying that ROS_MASTER_URI is not defined in my enviroment. This project is designed to run frontier-based exploration on the Qualcomm Robotics RB5 Development Kit, which is an artificial intelligence (AI) board for makers, learners, and developers. You can leave it at the default (using localhost) or change it to the hostname. However, I tried this a hundred times, adding different lines: nothing works. I'm not sure this is actually the solution to your problem, but the general procedure to add/remove/edit environment variables on Windows 7 is: If you have a restricted user account (or anything not with administrator level access), you might not be able to do this. Fair enough. Thanks for sticking with it and trying to diagnose what is really going on. From the desktop, right click the Computer icon. I assume you mean ROS_MASTER_URI, right? To avoid issues with DNS, use only IPs when setting ROS_MASTER_URI. 2.Quick Start Guide 2.1 Calibration Calibrate the servo angle offset according to the following document. Great care should be taken when using localhost , as that can lead to unintended behaviors with remotely launched nodes. ROS_MASTER_URI and ROS_HOSTNAME / ROS_IP ROS_MASTER_URI This is to specify the address of master node. ROS_MASTER_URI = http://127.0.0.1:11311 ROS_MASTER_URI = http://andres-PC:11311 nothing works. 159 077 /. I understand your expectation but can't provide any information why this was decided that way. I'm not sure why you need to set ROS_HOSTNAME to localhost, but to avoid having to set these environment variables manually, add them to whichever file your shell loads/parses/sources when you start/log into a new shell. re: edit2: please don't post updates in comments. comment the lines you want, save and open another terminal, this is the case when your robot is the master, and you are operating only one robot, if you want to operate multiple robots, you can check the turtlebot concert, basically your pc is the master and the robots are the slaves. Also: if you have any other PCs in your ROS netwerk, using IPs might be more robust. It should be set to the XML-RPC URI of the master. Edit your original question. It is related with the enviroment variables in windows, that I guess I am not defining them properly. To do this, Avahi automatically takes over all DNS requests ending with ".local" and prevents them from resolving normally. But also set the default of the machines to NEVER. Please start posting anonymously - your entry will be published after you log in or create a new account. export ROS_MASTER_URI=http://192.168..15:11311 rostopic echo /rosout PCROSHello from ROS on robot hostname IP Wiindowshostname LinuxMacWindowsPC PC cat /etc/hostname ( http://wiki.ros.org/roslaunch/XML/mac ). ROS_MASTER_URIroscoremaster export ROS_MASTER_URI=http://192.168.1.4:11311 mastermasterrosnode list IPmaster AROSBCDROS_MASTER_URIABCD IP LinuxROSLinuxROS!1.2.3.sources.listROS1.Ubuntu 2.ROS Kinect3.ROS1.rosdep2.rosdep? Have you had a chance to take a look at this again? Port to connect to rostest rosmaster after Indigo, The ~/.bashrc files on both robot and the master machine are set up and sourced. Either type the following or (preferrably) add this to your ~/.bashrc file in order set up your local machine as a ROS master: export ROS_MASTER_URI=http://localhost:11311 then, type 'roscore' in another shell to actually launch the master program. First make sure that they are reachable and are pinging each other successfully. You may take a look at ROS Network as I think it does exactly what you need.. For example, let's say you have two machines M1(IP1) & M2(IP2) that are running ROS and you want them to exchange data (ROS msg, srv.) The program runs another executable. Too afraid to rebuild it XD. I just defined a new enviroment variable ROS_URI_MASTER with value http://andres-PC:11311 . internal ExportApiHelper (Uri relativityUrl, Credentials credentials, int workspaceId, int blockSize, QueryRequest queryRequest, int scaleFactor) _relativityUrl = relativityUrl ; _credentials = credentials ; Now we'll start a listener on hal, configuring ROS_MASTER_URI so that we use the master that was just started: ssh hal export ROS_MASTER_URI=http://hal:11311 rosrun rospy_tutorials listener.py Start the talker Next we'll start a talker on marvin, also configuring ROS_MASTER_URI so that the master on hal is used: Then start a new terminal, remove the build and devel folders .. .. from your ~/catkin_ws, run catkin_make (or catkin build) again, source ~/catkin_ws/devel/setup.bash and try to run your programs again. What could be the problem? So the program runs another executable? Thanks! Reddit and its partners use cookies and similar technologies to provide you with a better experience. If things don't work without those variables, that would point to a potential issue with your network configuration. I tried searching on the internet, but I didn't find exactly what I wanted. Click OK. Close all remaining windows by clicking OK. If I use mine that is the IP , if someone else uses another one the IP changes. I can move the robot with rostopic commands. Now it works. After experimenting a little I noticed that I need to export ROS_HOSTNAME and ROS_MASTER_URI in all 3 tabs I need to run the turtlsime example. Please start posting anonymously - your entry will be published after you log in or create a new account. The ros::init is in the "other executable". It's only used locally. ! I am connecting my computer to a ROS robot but I have a problem exporting env variable when I type in ROS_MASTER_URI it returns: zsh: no such file Press J to jump to the feed. I will try to look at the code, which is not mine. On your Android device, connect to the wireless access point associated with your ROS_MASTER_URI. I was really stacked. export ROS_MASTER_URI=http://localhost:11311 ros2 run ros1_bridge dynamic_bridge This failed to contact 'localhost:11311' so I found this thread and I have changed the ROBOT_MASTER_URI using the following: export ROS_MASTER_URI=http://master:11311 I get the same error as before but this time for the master:11311. I have tried using "192.168.1.2 " instead of "localhost". But I didn't have the time to look into the code, so I don't know many details. If you intend to have your Windows ROS nodes communicate with other machines, I'd also set ROS_IP to the IP of the Windows machine. So in each tab I go like: Only then my cmd will accept my arrow keys as input and I will see the turtle moving. So in each tab I go like: export ROS_HOSTNAME=localhost --- export ROS_MASTER_URI=http://localhost:11311 --- roscore You can export the ROS Master to your Machine. How to set ROS_MASTER_URI and ROS_HOSTNAME for a universal robot. This behavior can be overridden with the reuse-master flag, and then the standard ROS_MASTER_URI will be used for the test. Like run it once, even if I need to restart my PC? Any idea what I am doing wrong? I've merged your comments into your question, but please keep it in mind. Ah, I guess I made an incorrect assumption here, since the master is not usually considered being a node. ok. Let's say on all the robots I have: ROS master running on the local computer. orb. I will do that in a day or two, because I have to export some data, now that it works. The talker and listener can be either a ROS 1 or a ROS 2 node. The robots are always the same but the PC can change. ROS_MASTER_URI is a required setting that tells nodes where they can locate the master. Robot3 : 192.168.10.103. I was trying all day to figure out why my cmd won't accept my arrow keys as input for the turtlesim example. I would recommend you try running things without setting those variables, and then see whether things work. And is that "other executable" the ROS node? ROS_HOSTNAME DNS ROS_IP IP . For more information, please see our It is launched using the roscore command.. I saw that this issue was already solved in this thread, by defining the ROS_MASTER_URI in the debug enviroment. All your robots would then have ROS_MASTER_URI=http://hostname_of_your_pc:11311, which would work no matter what IP your PC gets. Then, open your local .bashrc file and comment out the line at the end that specifies the URL where the ROS master can be found: https://minipupperdocs.readthedocs.io/en/latest/guide/Software.html 2.2 Walking 2.2.1 Run the base driver $ export ros_ip=72.19..1 $ export ros_master_uri=http://172.19..3:11311 $ rostopic list /chatter /rosout /rosout_agg $ rostopic echo /chatter $ docker exec -it foo_master_1 bash -c 'source /ros_entrypoint.sh && rostopic info /chatter' type: std_msgs/string publishers: * /talker (http://talker:54447/) subscribers: * /listener 8 mo. PC ROS_MASTER_URI, export ROS_MASTER_URI='http:192.168.31.107:11311' PCrostopic. I also tried with VS2010 professional, but nothing. hmmm.. If those work, then I think we'll need to take a look at the code of the program / node you use to "publish messages to the topics from another program running in the same PC". ROS. 1. . I ask because in that case the environment may simply not be setup for the user, with missing env vars as result. Then, execute lines 51-53 to configure them with new values. (Or, you can write an alias for it! It should be set to the XML-RPC URI of the master. Press question mark to learn the rest of the keyboard shortcuts This configuration is created in a docker environment so that you can reproduce it immediately yourself. There are ways to connect to the rostest's roscore, which is restarted for each test in order to have a clean test fixture.. Indigo and later. It should be set to the XML-RPC URI of the master. When you run the android_sensors_driver app, the are presented with is the master chooser. ROS PC(18.04) ~./bshrc export ROS_MASTER_URI= IP:11311 export ROS_HOSTNAME=IP export TUETLEBOT3_MODEL=burger 4 export ROS_MASTER_URI= IP:11311 export ROS_HOSTNAME=4IP export TUETLEBOT3_MODEL=burger source ~/.bashrc . If you change the default master node port, please remember to modify it. rosmasteripmasterip.bashrcipros_master_urlros_hostnameip . Use this screen and enter the ROS_MASTER_URI you wish to connect to. I tried to make a system that communicates with the system on ROS on a tablet (safari on iPad) and displays information, so I will try to make it an article as a memoir. Is there a way I can avoid this? Where, as I said before, 192.168.0.100 is the IP of my PC where the ros master is running. env | grep -i ros output without exporting any ROS enviroment variables: Please add the output of env | grep -i ros | sort to your question (use the edit button/link for that), as well as all lines that you added to your .bashrc to try and fix this. roslaunch. 1 export ROS_MASTER_URI=http://&lthostname or ip of your master node>:11311 11311 is the default port. If I understand the problem correctly, perhaps the machine tag is what you're looking for? Great care should be taken when using localhost , as that can lead to unintended behaviors with remotely launched nodes. The thing is that I tried your proposal, adding the ROS_MASTER_URI to the enviroment variable, but it didn't work. It must be some stupid thing that I am missing, and I am not able to fix. I also tried with VS2010 professional, but nothing. You can do this in three easy steps. Could you please point me in the right direction? ROS_MASTER_URI set, but program gives related error. Just a test: comment the lines which export the following variables: ROS_PACKAGE_PATH, ROS_ROOT, PATH, ROS_MASTER_URI, ROS_IP and ROS_HOSTNAME. You can use hostname or ip for the URI. It could just be that the environment is really not set, resulting in the errors. Right? The exception always appears with the ROS_MASTER_URI undefined. I am getting a little bit crazy with his problem. Could you add something like the following to the program? $ export ROS_HOSTNAME=ubuntu.local $ export ROS_MASTER_URI=http://ubuntu.local:11311 This is useful when you have a Ubuntu system named "ubuntu" on your network, it can be accessed at the address "ubuntu.local". PC : 192.168.0.100 The ros::init is in the "other executable". I just tested simple publisher and subscriber and they work. Many ROS infrastructure tools rely on Python and need access to the roslib package for bootstrapping. Edit2: The only reason I started changing ROS variables was the error I am getting by the program. Once you've done this, you should see your device attempting to access sensors, so now . The robot still cannot find the master, rosparam: Can't set parameters on Master, via launch file, Connecting to a ros master without internet, Slow pointcloud topic rate with openni_launch, pioneer3-at I dont wnt to use ssh to remotely control robot, communication between winros and ubuntu didn't work, Creative Commons Attribution Share Alike 3.0. ago Yes, that is correct. After experimenting a little I noticed that I need to export ROS_HOSTNAME and ROS_MASTER_URI in all 3 tabs I need to run the turtlsime example. Any help please? Running ROS on multiple machines in a remote environment, Multiple remote users of ROS master: nickname lookup failure, Creative Commons Attribution Share Alike 3.0. I always get the same error. Example 1: run the bridge and the example talker and listener. for context this is what Im talking about https://emanual.robotis.com/docs/en/platform/turtlebot3/quick-start/#pc-setup When I run the commandnano ~/.bashrc the menu comes up but I cant find export ROS_MASTER_URI or ros host name any ideas Edit: I dont need help anymore thanks, https://emanual.robotis.com/docs/en/platform/turtlebot3/quick-start/#pc-setup. All I got printed was "Boot file filename.fboot could not be opened". Send data from robot to PC for Visualization, Running RViZ through X forwarding on headless machine, Slow pointcloud topic rate with openni_launch. I would like to pass directly the environment variable ROS_MASTER_URI in the previous lines but I know it is not possible anymore. To Export the ROS Master to your local machine: $ export ROS_MASTER_URI=http://<ip of machine running ROS Master>:11311 $ export ROS_IP=<ip of machine running ROS Master> $ source ~/.bashrc with each other. Could it be the version of the VS?. For those accounts, go to the User Accounts applet in the Control Panel, and click the Change my environment variables link at the bottom of the list in the left side of the window (see this link fi). These values are what I would expect for a normal, single PC, ROS setup. listtopicPCROS_MASTER. Tutorial says so. thank you for your answer. I cannot find more information about this problem, so any experienced help will be really appreciated. Roslaunch will start roscore if one is not found. Do you know how should I modify the env.sh file to tell it to do an, export ROS_MASTER_URI="http://192.168.0.100:11311". ssh. roscore. Note: If you are building on a memory constrained system you might want to limit the number of parallel jobs by setting e.g. Thanks a lot. Auto exploration with navigation. Thanks. "Turtlebot3V2.2". Overriding ROS_ROOT like that is not a good idea. . I ran rosrun turtlesim turtle_teleop_key in Master Computer and controlled the slave computer with the keyboard. More on that later). Remember, you should have your PC and the Raspberry Pi connected in the same Wi-Fi network (Figure 3). By default it is not in the .bashrc file roskineticmelodic. Then the Launch file runs all of the nodes within the launch file. That should tell you what the user and group id are under which the program is started. I would not expect that to be necessary for a single machine setup. Please start posting anonymously - your entry will be published after you log in or create a new account. The value of ROS_MASTER_URI on your PC doesn't really matter for your robots. ROS_MASTER_URI is not defined in the environment. export ROS_MASTER_URI=http:// $1 :11311 fi } # This PS1 snippet was adopted from code for MAC/BSD I saw from: http://allancraig.net/index.php?option=com_content&view=article&id=108:ps1-export-command-for-git&catid=45:general&Itemid=96 # I tweaked it to work on UBUNTU 11.04 & 11.10 plus made it mo' better export GIT_PS1= '$ (git branch &>/dev/null;\ Here are what I tried so far. Save ROS configurations like "profile" in Matlab, Advantages of sick visionary t over intel realsense [closed], export ROS_HOSTNAME, ROS_MASTER_URI configuration problem, Creative Commons Attribution Share Alike 3.0, export ROS_HOSTNAME=localhost --- export ROS_MASTER_URI=http://localhost:11311 --- roscore, export ROS_HOSTNAME=localhost --- export ROS_MASTER_URI=http://localhost:11311 --- rosrun turtlesim turtlesim_node, export ROS_HOSTNAME=localhost --- export ROS_MASTER_URI=http://localhost:11311 --- rosrun turtlesim turtle_teleop_key. By accepting all cookies, you agree to our use of cookies to deliver and maintain our services and site, improve the quality of Reddit, personalize Reddit content and advertising, and measure the effectiveness of advertising. I think I have to define it in the Visual Studio enviroment variable while debugging, but I tried many times and I still get the error. ( .) You have to add that yourself. ROS(Docker) ROSROS1MasterROS1 . ROS/NetworkSetup - 2.2. After noticing that throught the program, getenv() would return null, I exported ROS_MASTER_URI to a .sh file in /etc/profile.d Robot1 : 192.168.10.101 second, let's suppose that you want M1 to be the ROS master, so configure the . Creative Commons Attribution Share Alike 3.0. By rejecting non-essential cookies, Reddit may still use certain cookies to ensure the proper functionality of our platform. export PYTHONPATH=$PYTHONPATH:$ROS_ROOT/core/roslib/src Additional PATH Environment Variables ROS_PACKAGE_PATH See also ROS Launch File type. At first I though there was some configuration problem with the shell I use (zsh). Sorry for the delay. 2022 . For a single PC setup almost all of those should not be needed. The problem is, that I am trying to publish messages to the topics from another program running in the same PC, but I get the following error: I have set ROS_MASTER_URI and ROS_IP to my .bashrc file and sourced it. Single Machine Configuration I don't know Hey, I just discovered that I worked!! By default rostest uses a random port so many rostests can be run in parallel.. Re-use an already-running master. Seems to work. I'm curious to know why you decided to override ROS_ROOT and ROS_PACKAGE_PATH like that? ROS_MASTER_URI=http://hostname_of_your_pc:11311, This means that I have to set my ROS_MASTER_URI on my PC to : ROS_MASTER_URI=http://hostname_of_your_pc:11311. roscore is a collection of nodes and programs that are pre-requisites of a ROS-based system. even tried to format my pc and reinstall everything, in case of broken packages. You would also need to make sure ROS_HOSTNAME is configured correctly on all three robots & your PC. IT- 9 487 , 2- . Since, in this chapter, you will only be using your local machine, you need to reconfigure the ROS master URI so that it does not point to the robot but to your local computer. Roslaunch is used to start a group of nodes with specific topics and parameters. However what doesn't work, is running a rosmaster in the container and accessing it from the laptop. I just forced edited the rc file as you proposed. 51k 77k 103k 129k 155k 181k 207k 233k 259k 285k. In the tutorial of win_ros, the hyperlink to explain how to do this is broken. Do you know how should I modify the env.sh file to tell it to do an export ROS_MASTER_URI="http://192.168..100:11311" Where, as I said before, 192.168..100 is the IP of my PC where the ros master is running. I have tried setting ROS_MASTER_URI and ROS_HOSTNAME. Either type the following or (preferrably) add this to your ~/.bashrc file in order set up your local machine as a ROS master: export ROS_MASTER_URI=http ://localhost:11311 then, type 'roscore' in another shell to actually launch the master program. ROS_IP export ROS MASTER , ROS_MASTER_URI ROS MASTER . For this reason everytime I start an experiment I need to make sure to do an export on the Robot1-2-3 of my ROS_MASTER_URI. Slave Computer: export ROS_IP = 192.168.137.bbb export ROS_MASTER_URI = http: //192.168.137.aaa: 11311 source /opt/ros/kinetic/setup.bash I ran Roscore in Master computer than ran turtlesim_node in slave computer. Hi! Privacy Policy. export ROS_MASTER_URI= http://192.168.2.19:11311/ export ROS_IP=192.168.2.19 SBC BASHRC: export ROS_MASTER_URI= http://192.168.2.19:11311/ export ROS_IP=192.168.2.22 I have tried time syncing of machines and everything, Strangely I am able to connect to the ros master if I set the master on rpi and slave on my remote PC Contributor It first checks for a roscore also known as the ros master and checks to see if it is running. export ROS_MASTER_URIIPROS_IPip export ROS_MASTER_URI=IP1131111311 export ROS_IP=IP 1 2 3 export ROS_MASTER_URI=IP1131111311 export ROS_IP=IP 1 2 3 ipros Jili_nekosensei 5 25 0 ROS _ MASTER _ URI qq_41983625 519 () Turtlebot3V2.2 . ROS_HOSTNAME ROS_IP . 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