(MPC)python40MPCUdacityMPCpythonUdacityrosstagegazeboturtlebotROS Stage, rviz"+"PublishPointOK, Publish PointRVIZ/clicked_pointTopic/mapx,y, TurtlebotROSTurtlebot 1000 k . Our pre-trained checkpoints here (4G). + c (2) + k , Dual Quaternion Cluster-Space Formation Control; Impact of Heterogeneity and Risk Aversion on Task Allocation in Multi-Agent Teams; Hiding Leader's Identity in Leader-Follower Navigation through Multi-Agent Reinforcement Learning; Moving Forward in Formation: A Decentralized Hierarchical Learning Approach to Multi-Agent Moving Together = k 0 0 Position in WGS 84 reference ellipsoid, published at 50 Hz. The ROS Wiki is for ROS 1. 0 , Check PoseRBPF for a better solution for symmetric objects. WebThe subscribers constructor and callback dont include any timer definition, because it doesnt need one. 1 + A transformation between the lidar and pose sensor is set. = d 1.5 v Error between points is limited to this value during local optimization. \begin{array}{cc} \text{min } &\mathcal{J}=\sum_{k=1}^N(\omega_{\text{cte}}||\text{cte}_t||^2+\omega_{\text{epsi}}||\text{epsi}_k||^2) \\ & +\sum_{k=0}^{N-1} (\omega_{w}||w_k||^2+\omega_{v2}||v_k||^2+\omega_{v1} ||v_k-v_{\text{ref}}||^2) \\ & +\sum_{k=0}^{N-2}(\omega_{\text{rate}_{w}}||w_{k+1}-w_{k}||^2+\omega_{\text{rate}_{v}}||v_{k+1}-v_k||^2) \\ \end{array}\tag{4}, s The type of RTK positioning, indicating different solutions for calculating the position published at 10hz. ) A scale of (1.0,1.0,1.0) means the mesh will display as the exact size specified in the mesh file. (6) w PyTorch implementation of the PoseCNN framework. = Check out the ROS 2 Documentation. ) y See the example application to get an idea on how to use the estimator and its outputs (callbacks returning states). 1 It will draw a line between each pair of points, so 0-1, 2-3, 4-5, Line lists also have some special handling for scale: only scale.x is used and it controls the width of the line segments. 1 subscribe to stereo images from the front-facing and down-facing cameras of M210 in 240x320 resolution. = k 2 ) ( d Path of csv generated by Maplab, giving poses of the system to calibrate to. k t Simple OpenAI Gym environment based on PyBullet for multi-agent reinforcement learning with quadrotors. 3 0. k i = v If nothing happens, download Xcode and try again. 0.01 Pivot point is at the center of the cylinder. i N 1 1 v The color of a line segment then gradually changes from its start to end point. v = 1.5 s.t.xk+1=xk+vkcos(k)dtyk+1=yk+vksin(k)dtk+1=k+wkdtctek+1=f(xk)yk+vksin(k)dtepsik+1=arctan(f(xk))+wkdt,k=0,1,2,,N1,k=0,1,2,,N1,k=0,1,2,,N1,k=0,1,2,,N1,k=0,1,2,,N1(5), v Only scale.z is used. scale.x is the shaft diameter, and scale.y is the head diameter. 3move_base c k , + = Line lists use the points member of the visualization_msgs/Marker message. n The cfg/rovio.info provides most parameters for rovio. , 1 Use Git or checkout with SVN using the web URL. 1 w the tag is to distinguish between different call, Maintainer: Norman Li
, Botao Hu . = The 3D rotation of the object is estimated by regressing to a quaternion representation. epsi The latest releases 3.4 and 3.5 introduce support for Matrice 210 and 210 RTK. = 1 ros::Time current_time, last_time; , e 2.0 + In visualization 1.1+ will also optionally use the colors member for per-vertex color. , In visualization 1.1+ will also optionally use the colors member for per-sphere color. 2 = + + ( You must register as a developer with DJI and create an onboard SDK application ID and Key pair. Thanks . 0 k epsi # header.frame_id # The twist in this message should be specified in the coordinate frame given ( Make sure our pretrained checkpoints are downloaded. d + = Only used for markers of type Points, Line strips, and Line/Cube/Sphere lists. [ ] , , k w Update the rate of change for Yaw and the direction of the change. 100 = 1 A scale of (1.0,1.0,2.0) means the mesh will show up twice as tall, but the same width/depth. k v v 1 k This marker displays text in a 3D spot in the world. f No GUI tools. k cte , k sin If the mesh_use_embedded_materials flag is set to true and the mesh is of a type which supports embedded materials (such as COLLADA), the material defined in that file will be used instead of the color defined in the marker. c , , \begin{matrix} x_{k+1}=x_k+v_k\cos(\theta_k)d_t \\ y_{k+1}=y_k+v_k\sin(\theta_k)d_t \\ \theta_{k+1}=\theta_{k}+w_k d_t \\ \text{cte}_{k+1} = \text{cte}_k+v_k \sin (\theta_k)d_t \\ \text{epsi}_{k+1}=\text{epsi}_k+w_kd_t \end{matrix} \tag{2} \dot{x}=vcos(\theta)\\ \dot{y}=vsin(\theta)\\ \dot{\theta}=w 19 k , = Every set of 3 points is treated as a triangle, so indices 0-1-2, 3-4-5, etc. , rate + \omega_{v1}=100 = PoseCNN-PyTorch: A PyTorch Implementation of the PoseCNN Framework for 6D Object Pose Estimation, Training your own models with synthetic data for YCB objects, Running with ROS on a Realsense Camera for real-world pose estimation. ( . , t ( v sign in k wmax=1.5, w The installation of ROS 2s dependencies on a freshly installed system without upgrading can trigger the Communication libraries, message packages, command line tools. There was a problem preparing your codespace, please try again. Header header, ); x + An example output is as follows: If the path has been set the results will also be saved to a text file. [ (4) N x This package provides a ROS interface for the DJI onboard SDK and enables the users to take full control of supported platforms (DJI M100, M600, M210, or drones equipped with A3/N3 flight controllers) using ROS messages and services. 1 n k + The length of the data is upper-limited to 100. Minimum range a point can be from the lidar and still be included in the optimization. t Use rosmsg show dji_sdk/MissionHotpointTask for more detail, Update the radius of the hot point mission. 2 . , = , 1.1:1 2.VIPC. N + k min v Model-Based Design and automatic code generation enable us to cope with the complexity of Agile Justins 53 degrees of freedom. t 8: MAV_PROTOCOL_CAPABILITY_COMMAND_INT: Autopilot supports COMMAND_INT scaled t v v1=100, k This process is repeated in an optimization that attempts to find the transformation that minimizes this distance. e ); If scale.z is not zero, it specifies the head length. + + k If nothing happens, download GitHub Desktop and try again. + , = N k to use Codespaces. ROS Message Types: Accel AccelStamped AccelWithCovariance AccelWithCovarianceStamped Inertia InertiaStamped Point Point32 PointStamped Polygon PolygonStamped Pose Pose2D PoseArray PoseStamped PoseWithCovariance PoseWithCovarianceStamped Quaternion QuaternionStamped Transform The point at index 0 is assumed to be the start point, and the point at index 1 is assumed to be the end. In addition, the /dji_sdk/flight_control_setpoint_generic topic requires a control flag as axes[4] of the input. The topic to subscribe to. 0 Developers will now have access to previously unavailable data such as stereo camera feeds (front-facing and downward-facing), FPV camera stream, and main gimbaled camera stream through USB. 1 Recall that the publisher defines msg.data = 'Hello World: %d' % self.i rate 2 ( Use scale.z to specify the height. For references to register map and descriptions of individual registers, , minJ=k=1N(ctectet2+epsiepsik2)+k=0N1(wwk2+v2vk2+v1vkvref2)+k=0N2(ratewwk+1wk2+ratevvk+1vk2)(4), N v + , . t 2 Actively break to hold position after stop sending setpoint, Wiki: dji_sdk (last edited 2017-12-20 22:42:05 by Zhiyuan Li), Except where otherwise noted, the ROS wiki is licensed under the, https://github.com/dji-sdk/Onboard-SDK-ROS.git. n , N k=1 Gimbal speed command: Controls the Gimbal rate of change for roll pitch and yaw angles (unit: 0.1 deg/sec). k w k 1 Author: Troy Straszheim/straszheim@willowgarage.com, Morten Kjaergaard, Brian Gerkey = = , epsi 2 . Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. 3D models of YCB Objects we used here (3G). N min s , 1.2. w , . Color of the object, specified as r/g/b/a, with values in the range of [0, 1]. k (2) If. , , w = Download the YCB-Video dataset from here. Vehicle attitude represented as quaternion for the rotation from FLU body frame to ENU ground frame, published at 100 Hz. Put the weight file to $ROOT/data/checkpoints. Candidates can be /dev/ttyUSBx, /dev/ttyTHSx, etc. 2 1 current_time, compute odometry in a typical way given the velocities of the robot, since all odometry is 6DOF we'll need a quaternion created from yaw, first, we'll publish the transform over tf, geometry_msgs::TransformStamped odom_trans; The method makes use of the property that pointclouds from lidars appear more 'crisp' when the calibration is correct. + = 1 k + k , Don't forget to set a or it will default to 0 and be invisible. v arXiv, Project. v N=19 v (,) ) y k k v Local position in Cartesian ENU frame, of which the origin is set by the user by calling the /dji_sdk/set_local_pos_ref service. cte a \text{epsi}, min k k max n . + = k Work fast with our official CLI. . Can be any mesh type supported by rviz (.stl or Ogre .mesh in 1.0, with the addition of COLLADA in 1.1). v s0=0, , x , A tag already exists with the provided branch name. 1 ( The format is the URI-form used by resource_retriever, including the package:// syntax. w The example used here is a simple integer addition system; one node requests the sum of two integers, and the other In the header of most of the telemetry data such as imu and attitude, the frame_id is either "body_FLU" or ground_ENU, to make it explicit. sudo apt install ros-galactic-ros-base Development tools: Compilers and other tools to build ROS packages. arXiv, Project w Webtf2 The tf2 package is a ROS independent implementation of the core functionality. It is the bitwise OR of 5 separate flags defined as enums in dji_sdk.h, including Horizontal, Vertical, Yaw, Coordinate Frame, and the Breaking Mode. 2 0.01 2 Error between points is limited to this value during global optimization. cte k 1 + The available types are specified in the message definition. Maximum time offset between sensor clocks in seconds. ( v ros::NodeHandle n; , As a method of evaluating the quality of the alignment, if the needed path is set all points used for alignment will be projected into a single pointcloud and saved as a ply. 2 . = Scale on a mesh is relative. . xk+1=xk+vkcos(k)dtyk+1=yk+vksin(k)dtk+1=k+wkdtctek+1=ctek+vksin(k)dtepsik+1=epsik+wkdt(2) G1=ax1ay1az1=00g(1)(1)G1=[ax1ay1az1]=[00g] G_1 = \begin{bmatrix} ) d s k ( cte=epsi=1000, N . + o Identity orientation points it along the +X axis. 1 s Modify the configuration file for training on a subset of these objects. In visualization 1.1+ will also optionally use the colors member for per-vertex color. 2 Data received from mobile device to the vehicle. k x k Ratio of points to use in the optimization (runtimes increase drastically as this is increased). v = k ( k For most systems the node can be run without tuning the parameters. k cte Baud rate should be set to match that is displayed in DJI Assistant 2 SDK settings. y The poses can either be given in the same bag file as geometry_msgs/TransformStamped messages or in a separate CSV file that follows the format of Maplab. max k ) + N k Model-Based Design and automatic code generation enable us to cope with the complexity of Agile Justins 53 degrees of freedom. one node for controlling wheel motors, one node for controlling a laser range-finder, etc). Webindigo-devel for ROS Indigo and Ubuntu 14.04 support, but the branch is no longer maintained. . . Path of rosbag containing sensor_msgs::PointCloud2 messages from the lidar. k N d Please refer to ros2/ros2#1272 and Launchpad #1974196 for more information. N , k w + Please go to. + o , , c t If no gps present, default publishes longitude and latitude equal zeros. ROS-Base Install (Bare Bones): Communication libraries, message packages, command line tools. If nothing happens, download GitHub Desktop and try again. Publish a static coordinate transform to tf using an x/y/z offset in meters and quaternion. \text{epsi} ) = The following additional system dependencies are also required: The final calibrations quality is strongly correlated with the quality of the transformation source and the range of motion observed. = k k & x_{k+1}=x_k+v_{k}cos(\theta_k)d_t &, k=0,1,2,,N-1\\ & y_{k+1}=y_k+v_{k}sin(\theta_k)d_t &, k=0,1,2,,N-1\\ & \theta_{k+1}=\theta_{k}+w_{k} d_t &, k=0,1,2,,N-1\\ & \text{cte}_{k+1} =f(x_k)-y_k+v_{k} \sin (\theta_k)d_t &,k=0,1,2,,N-1 \\ & \text{epsi}_{k+1}=arc\tan(f'(x_k))-\theta+w_{k} d_t &, k=0,1,2,,N-1 \end{array}\tag{5} , k Fail if GPS health is low (<=3). ROSnavfn move_base base_global_planner (`string`, default: "navfn/NavfnROS") navigationglobal_plannerA*,Dijkstra navfn # twistchild_frame_id k (MPC)python40MPCUdacityMPCpythonUdacityrosstagegazeboturtlebotROS Stage 1TXT Published at 50 Hz. mmdl 2 k ) All the above flight control topics take setpoint values of the X, Y, Z, and Yaw channels in axes[0]-axes[3]. 2 d 1 This document provides a description, specifications, and design related information on the MPU-9250 k Maximum number of function evaluations to run, Number of points to send to each thread when finding nearest points, Number of neighbors to consider in error function. Check our ICRA 2020 paper for details. PoseCNN is an end-to-end Convolutional Neural Network for 6D object pose estimation. Applied before the position/orientation. The points member of the visualization_msgs/Marker message is used for the position of each sphere. . 1 The node will load all messages of type sensor_msgs/PointCloud2 from the given ROS bag for use as the lidar scans to process. . Learn more. It will draw a line between every two consecutive points, so 0-1, 1-2, 2-3, 3-4, 4-5 Line strips also have some special handling for scale: only scale.x is used and it controls the width of the line segments. v & x_{k+1}=x_k+v_{k}cos(\theta_k)d_t &, k=0,1,2,,N-1\\ & y_{k+1}=y_k+v_{k}sin(\theta_k)d_t &, k=0,1,2,,N-1\\ & \theta_{k+1}=\theta_{k}+w_{k} d_t &, k=0,1,2,,N-1\\ & \text{cte}_{k+1} =f(x_k)-y_k+v_{k} \sin (\theta_k)d_t &,k=0,1,2,,N-1 \\ & \text{epsi}_{k+1}=arc\tan(f'(x_k))-\theta+w_{k} d_t &, k=0,1,2,,N-1 \end{array}\tag{5}, v Points have some special handling for scale: scale.x is point width, scale.y is point height. = v 1 v Are you using ROS 2 (Dashing/Foxy/Rolling)? . + s , Training and testing for 20 YCB objects with synthetic data. min 1 ( 2 Dont forget to call the service after v_{\text{min}}=-0.01, v 0 pycharm.m, weixin_45701471: scale.x is the arrow length, scale.y is the arrow width and scale.z is the arrow height. wTurtlebot d max v ( . WebSet locale . No GUI tools. (9862) 1 k rate We implement PoseCNN in PyTorch in this project. 0 gym-pybullet-drones. v . cte , Specifications are subject to change without notice. 0 , n If you find the package is useful in your research, please consider citing: Use python3. , min 1 Motion that is approximately planner (for example a car driving down a street) does not provide any information about the system in the direction perpendicular to the plane, which will cause the optimizer to give incorrect estimates in this direction. It is your responsibility to keep these unique within your namespace. N = \begin{matrix} x_{k+1}=x_k+v_k\cos(\theta_k)d_t \\ y_{k+1}=y_k+v_k\sin(\theta_k)d_t \\ \theta_{k+1}=\theta_{k}+w_k d_t \\ \text{cte}_{k+1} = \text{cte}_k+v_k \sin (\theta_k)d_t \\ \text{epsi}_{k+1}=\text{epsi}_k+w_kd_t \end{matrix} \tag{2}, cte 0 . t w = First, advertise on the visualization_marker topic: After that it's as simple as filling out a visualization_msgs/Marker message and publishing it: There is also a visualization_msgs/MarkerArray message, which lets you publish many markers at once. The callback definition simply prints an info message to the console, along with the data it received. v y ) \dot{x}=vcos(\theta)\\ \dot{y}=vsin(\theta)\\ \dot{\theta}=w, d tf2_tools provides a number of tools to use tf2 within ROS . = epsi N k , cte . Now lets give turtle1 a unique pen using the /set_pen service:. , ( + epsi s_0 Note that this flag must always be set if missions are supported, because missions must always use MISSION_ITEM_INT (rather than MISSION_ITEM, which is deprecated). Upload a set of hotpoint tasks to the vehicle. k Each node can send and receive data to other nodes via topics, services, actions, or parameters. s 0 cos = ( N . y v_{\text{max}}=2.0, w c rate (5) tf2ROS Hydrotftf2 TF. v N [ Can be any mesh type supported by rviz (binary .stl or Ogre .mesh in 1.0, with the addition of COLLADA (.dae) in 1.1). a_{y1} \\ The velocity is valid only when gps_health >= 3. Take photo or video via service, return true if successful. No GUI tools. p k k N = 0 1 d 1 w Fused angular rate (p,q,r) around Forward-Left-Up (FLU) body frame, published at 100 Hz. v Pivot point is at the center of the cube. This is treated differently by RViz than any other time. 10 N v The flight control signals subscribed by the dji_sdk node are also supposed to be FLU for body frame or ENU for ground frame. Use rosmsg show dji_sdk/MissionWaypointTask for more detail, Upload a new waypoint task, return true if succeed. . . k w_{\text{max}}=1.5, N 1 + d s max epsi , , 6 ,() d M210 Users will need to upgrade to the latest firmware (1.1.0410) to work with Onboard SDK and to download the latest DJI Assistant 2 (1.1.8) for simulation. In the header of most of the telemetry data such as imu and attitude, the frame_id is either "body_FLU" or ground_ENU, to make it explicit.The flight control signals subscribed by the dji_sdk node are also supposed ) 0 , v MotionTracking device. o 1 0 + The kinova-ros stack provides a ROS interface for the Kinova Robotics JACO, JACO2 and MICO robotic manipulator arms. , i ) A duration value used to automatically delete the marker after this period of time. \omega_{w}=\omega_{v2}=10, k PoseCNN estimates the 3D translation of an object by localizing its center in the image and predicting its distance from the camera. [ It does this as follows: To install lidar_align, please install ROS Indigo, ROS Kinetic or ROS Melodic. Command the X, Y, Z velocity in ENU ground frame and yaw rate. x=vcos()y=vsin()=w, ( w WebPoseCNN is an end-to-end Convolutional Neural Network for 6D object pose estimation. . , . 0 ( 1 epsi The values for r, g and b, between 0 and 255, will set the color of the pen turtle1 draws with, and width sets the thickness of the line.. To have turtle1 draw with a distinct red line, change the value of r to 255, and the value of width to 5. v + ( ( \text{cte}, epsi Breaking change in Node Interface getters signature With pull request ros2/rclcpp#1069 , the signature of node interface getters has been modified to return shared ownership of node interfaces (i.e. k 1 ( k 1 k Published at 50 Hz. This plus the id form a unique identifier. + Resolution can be set in DJI Go App. = Make sure you have a locale which supports UTF-8.If you are in a minimal environment (such as a docker container), the locale may be something minimal like POSIX.We test with the following settings. Note that pose is still used (the points in the line will be transformed by them), and the lines will be correct relative to the frame id specified in the header. k=1 r subscribe to FPV and/or main camera images. = 3 0. Are you using ROS 2 (Dashing/Foxy/Rolling)? . ) = In this case you want to publish in the visualization_marker_array topic. 2 = , , {B}{A}{B}{A}X{A}Y{A}ZX-Y-Z fixed anglesRPY(Roll, Pitch, Yaw), x,y,zxyz0-360(0-2pirollpitchyaw, 1 23, [x,y,z,theta], , , q=[w,v],v=(x,y,z)v3D4Quaternion, Quaternion::ToAngleAxisQuaternion, 3(x,y,z,w)q=(x,y,z,w), ax,ay,az3theta43D4, https://www.cnblogs.com/21207-iHome/p/6894128.html, magnetometer, , turtlebot3IMUaccelerometergyroscope, IMUupdateIMUupdateYawYawYaw, ROSimu,,, https://x-io.co.uk/res/doc/madgwick_internal_report.pdf, AHRS(Automatic Heading Reference System)IMUmagnetometer, IMU(Inertial Measurement Unit)gyroscopeaccelerometer, 1, 1g, 9.8gXY, :1g0, , MPU6050MPU9150,MPU6050MPU9150, ROSodom,,, http://wiki.ros.org/message_filters, message_filters, , ROSmaster, https://blog.csdn.net/tobebest_lah/article/details/103050076#t5, https://blog.csdn.net/yaked/article/details/50776224, https://stackoverflow.com/questions/48497670/multithreading-behaviour-with-ros-asyncspinner, https://blog.csdn.net/m0_37142194/article/details/81784761AHRS, https://blog.csdn.net/sddxseu/article/details/53414501?utm_medium=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-1.channel_param&depth_1-utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-1.channel_paramAHRS, https://blog.csdn.net/superfly_csu/article/details/79128460?utm_medium=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-3.channel_param&depth_1-utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-3.channel_param, https://blog.csdn.net/log_zhan/article/details/52181535, https://blog.csdn.net/log_zhan/article/details/54376602?utm_medium=distribute.pc_relevant.none-task-blog-title-1&spm=1001.2101.3001.4242, https://blog.csdn.net/qq_42348833/article/details/106013882?utm_medium=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-2.channel_param&depth_1-utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-2.channel_param, https://blog.csdn.net/shenshen211/article/details/78492055, https://blog.csdn.net/weixin_38294178/article/details/87872893, http://www.wy182000.com/2012/07/17/quaternion%E5%9B%9B%E5%85%83%E6%95%B0%E5%92%8C%E6%97%8B%E8%BD%AC%E4%BB%A5%E5%8F%8Ayaw-pitch-roll-%E7%9A%84%E5%90%AB%E4%B9%89/, https://blog.csdn.net/chishuideyu/article/details/77479758message_filter, https://blog.csdn.net/chengde6896383/article/details/90755850?utm_medium=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-2.channel_param&depth_1-utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-2.channel_parammessage_filter, https://blog.csdn.net/qq_23670601/article/details/87968936, gwpscut: WebNOTE. mode: 0 - incremental control, the angle reference is the current Gimbal location. 1 The camera extrinsics qCM (quaternion from IMU to camera frame, Hamilton-convention) and MrMC (Translation between IMU and Camera expressed in the IMU frame) should also be set there. 1000 , , 1 N y Please refer to DJI Assistant 2 Remote controller settings. k s WebFor this demo, you will need the ROS bag demo_mapping.bag (295 MB, fixed camera TF 2016/06/28, fixed not normalized quaternions 2017/02/24, fixed compressedDepth encoding format 2020/05/27, fixed odom child_frame_id not set 2021/01/22).. 1 max 2 1 k The serial port name that the USB is connected with. In visualization 1.1+ will also optionally use the colors member for per-cube color. = ros The resource location for the MESH_RESOURCE marker type. = (0) s0NN There was a problem preparing your codespace, please try again. e Command the roll pitch angle, height, and yaw rate. Optimization will only be run on the first n scans of the dataset. Check out the ROS 2 Documentation. vk[vmin,vmax]wk[wmin,wmax],k=0,1,2,,N1,k=0,1,2,,N1(6), k Work fast with our official CLI. ) s . IMU data including raw gyro reading in FLU body frame, raw accelerometer reading in FLU body frame, and attitude estimation, published at. 6 ,() ,,0. Simple status of the vehicle published at 50 Hz, detailed status are listed in dji_sdk.h. k If nothing happens, download Xcode and try again. + = This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository. 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