It's only used locally. 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. You can export the ROS Master to your Machine. Example 1: run the bridge and the example talker and listener. 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. export ROS_MASTER_URI=http://<IP of laptop>:80 Therefore, running a roscore on a local laptop and accessing it from a container works. Where, as I said before, 192.168.0.100 is the IP of my PC where the ros master is running. 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.) I saw that this issue was already solved in this thread, by defining the ROS_MASTER_URI in the debug enviroment. Any help please? I am getting a little bit crazy with his problem. 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. It is launched using the roscore command.. It should be set to the XML-RPC URI of the master. PC ROS_MASTER_URI, export ROS_MASTER_URI='http:192.168.31.107:11311' PCrostopic. You must have a roscore running in order for ROS nodes to communicate. ROS_MASTER_URI set, but program gives related error. These values are what I would expect for a normal, single PC, ROS setup. data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAKAAAAB4CAYAAAB1ovlvAAAAAXNSR0IArs4c6QAAAnpJREFUeF7t17Fpw1AARdFv7WJN4EVcawrPJZeeR3u4kiGQkCYJaXxBHLUSPHT/AaHTvu . The talker and listener can be either a ROS 1 or a ROS 2 node. . Thanks for sticking with it and trying to diagnose what is really going on. 2022 . 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. I just forced edited the rc file as you proposed. Fair enough. Have you had a chance to take a look at this again? and our What could be the problem? 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 I have tried setting all three of them. I understand your expectation but can't provide any information why this was decided that way. Tutorial says so. edit: The output of env | grep -i ros | sort. My workspace has a package named main_launch, whic I also tried with VS2010 professional, but nothing. 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. All I got printed was "Boot file filename.fboot could not be opened". 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. Could you please point me in the right direction? It could just be that the environment is really not set, resulting in the errors. On your Android device, connect to the wireless access point associated with your ROS_MASTER_URI. I will do that in a day or two, because I have to export some data, now that it works. Auto exploration with navigation. ROS master running on the local computer. what about talker and listener from the ros_tutorials package? 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. Thanks! Does it have the setuid bit set to start as root or any other user? I always get the same error. This behavior can be overridden with the reuse-master flag, and then the standard ROS_MASTER_URI will be used for the test. Privacy Policy. listtopicPCROS_MASTER. Great care should be taken when using localhost , as that can lead to unintended behaviors with remotely launched nodes. The exception always appears with the ROS_MASTER_URI undefined. ago Yes, that is correct. I am not doing anything to run it as root. Click OK. Close all remaining windows by clicking OK. I followed the instructions, but I always get an exception saying that ROS_MASTER_URI is not defined in my enviroment. For a single PC setup almost all of those should not be needed. If you change the default master node port, please remember to modify it. How to set ROS_MASTER_URI and ROS_HOSTNAME for a universal robot. To avoid issues with DNS, use only IPs when setting ROS_MASTER_URI. At first I though there was some configuration problem with the shell I use (zsh). I would not expect that to be necessary for a single machine setup. So the program runs another executable? 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. 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). Thanks a lot. 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. even tried to format my pc and reinstall everything, in case of broken packages. 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. Is the program run as root? 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. 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 Robot3 : 192.168.10.103. I just tested simple publisher and subscriber and they work. Send data from robot to PC for Visualization, Running RViZ through X forwarding on headless machine, Slow pointcloud topic rate with openni_launch. 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. "Turtlebot3V2.2". ROS_MASTER_URIroscoremaster export ROS_MASTER_URI=http://192.168.1.4:11311 mastermasterrosnode list IPmaster AROSBCDROS_MASTER_URIABCD IP 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 . . second, let's suppose that you want M1 to be the ROS master, so configure the . By default rostest uses a random port so many rostests can be run in parallel.. Re-use an already-running master. Robot2 : 192.168.10.102 Please start posting anonymously - your entry will be published after you log in or create a new account. I've merged your comments into your question, but please keep it in mind. ROS_MASTER_URI is a required setting that tells nodes where they can locate the master. If I use mine that is the IP , if someone else uses another one the IP changes. ROS_MASTER_URI and ROS_HOSTNAME / ROS_IP ROS_MASTER_URI This is to specify the address of master node. ROS_MASTER_URI is a required setting that tells nodes where they can locate the master. ROS_MASTER_URI is not defined in the environment. 8 mo. The bridge will pass the message along transparently. By default it is not in the .bashrc file Sorry for the delay. I will try to look at the code, which is not mine. Port to connect to rostest rosmaster after Indigo, The ~/.bashrc files on both robot and the master machine are set up and sourced. The ros::init is in the "other executable". ! Then, execute lines 51-53 to configure them with new values. Now, execute lines 46-47 to check the ROS environment variables ROS_IP and ROS_MASTER_URI currently configured in your Ubuntu PC. Then the Launch file runs all of the nodes within the launch file. 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: 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 also tried with VS2010 professional, but nothing. roscore. Here are what I tried so far. 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 would like to pass directly the environment variable ROS_MASTER_URI in the previous lines but I know it is not possible anymore. I was trying all day to figure out why my cmd won't accept my arrow keys as input for the turtlesim example. $ 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". LinuxROSLinuxROS!1.2.3.sources.listROS1.Ubuntu 2.ROS Kinect3.ROS1.rosdep2.rosdep? Is there a way I can avoid this? ROS_IP export ROS MASTER , ROS_MASTER_URI ROS MASTER . (Or, you can write an alias for it! Creative Commons Attribution Share Alike 3.0. The thing is that I tried your proposal, adding the ROS_MASTER_URI to the enviroment variable, but it didn't work. I have tried using "192.168.1.2 " instead of "localhost". Hello, I have ubuntu 14.04 , Ros indigo and Gazebo 2.2.6. Like run it once, even if I need to restart my PC? roscore is a collection of nodes and programs that are pre-requisites of a ROS-based system. Single Machine Configuration Overriding ROS_ROOT like that is not a good idea. Great care should be taken when using localhost , as that can lead to unintended behaviors with remotely launched nodes. From the desktop, right click the Computer icon. 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. You can use hostname or ip for the URI. However what doesn't work, is running a rosmaster in the container and accessing it from the laptop. ubuntu qt-creator ros Share Improve this question Follow edited Sep 12, 2016 at 4:15 rbaleksandar Could you add something like the following to the program? I was really stacked. You can do this in three easy steps. When you run the android_sensors_driver app, the are presented with is the master chooser. 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. Or you could just put them in the ~/.bashrc file and it would happen on startup. Too afraid to rebuild it XD. I don't know Hey, I just discovered that I worked!! export ROS_MASTER_URI=http://mia:11311/ PYTHONPATH ROS requires that your PYTHONPATH be updated, even if you don't program in Python! This is a situation in which a DNS server (which is coupled with / knows how to deal with your DHCP server) would work best. ROS. Please start posting anonymously - your entry will be published after you log in or create a new account. Ah, I guess I made an incorrect assumption here, since the master is not usually considered being a node. Please start posting anonymously - your entry will be published after you log in or create a new account. It should be set to the XML-RPC URI of the master. That should tell you what the user and group id are under which the program is started. 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;\ For more information, please see our The ros::init is in the "other executable". 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". You have to add that yourself. Any idea what I am doing wrong? 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 ROS_HOSTNAME ROS_IP . It must be some stupid thing that I am missing, and I am not able to fix. Also: if you have any other PCs in your ROS netwerk, using IPs might be more robust. export PYTHONPATH=$PYTHONPATH:$ROS_ROOT/core/roslib/src Additional PATH Environment Variables ROS_PACKAGE_PATH Thanks. Right? 159 077 /. . re: edit2: please don't post updates in comments. ROS/NetworkSetup - 2.2. I would recommend you try running things without setting those variables, and then see whether things work. I ask because in that case the environment may simply not be setup for the user, with missing env vars as result. 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. 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. re: still getting error: do you get the error for all ros nodes? If things don't work without those variables, that would point to a potential issue with your network configuration. ( http://wiki.ros.org/roslaunch/XML/mac ). 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). orb. 1. . By rejecting non-essential cookies, Reddit may still use certain cookies to ensure the proper functionality of our platform. I would like to pass directly the environment variable ROS_MASTER_URI in the previous lines but I know it is not possible anymore. I assume you mean ROS_MASTER_URI, right? Use this screen and enter the ROS_MASTER_URI you wish to connect to. 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. But I didn't have the time to look into the code, so I don't know many details. 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. 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. ROS_MASTER_URI is a required setting that tells nodes where they can locate the master. 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 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. PC rosrun turtlesim turtle_teleop_key . 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 I can move the robot with rostopic commands. 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. Roslaunch will start roscore if one is not found. Could it be the version of the VS?. Roslaunch is used to start a group of nodes with specific topics and parameters. 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. At first I though there was some configuration problem with the shell I use (zsh). with each other. You would also need to make sure ROS_HOSTNAME is configured correctly on all three robots & your PC. ROS_MASTER_URI = http://127.0.0.1:11311 ROS_MASTER_URI = http://andres-PC:11311 nothing works. Could it be the version of the VS?. However, I tried this a hundred times, adding different lines: nothing works. It is related with the enviroment variables in windows, that I guess I am not defining them properly. http://wiki.ros.org/ROS/NetworkSetup. 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". Remember, you should have your PC and the Raspberry Pi connected in the same Wi-Fi network (Figure 3). PC : 192.168.0.100 Many ROS infrastructure tools rely on Python and need access to the roslib package for bootstrapping. Hi! 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: Please start posting anonymously - your entry will be published after you log in or create a new account. I have tried to echo the variables and I get the expected result. 1 export ROS_MASTER_URI=http://&lthostname or ip of your master node>:11311 11311 is the default port. Yes, I did. $ 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 I thought I had some problems with my configuration because the code does not produce errors to the person that wrote it. The value of ROS_MASTER_URI on your PC doesn't really matter for your robots. 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. It must be some stupid thing that I am missing, and I am not able to fix. hmmm.. The program runs another executable. To do this, Avahi automatically takes over all DNS requests ending with ".local" and prevents them from resolving normally. 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. 51k 77k 103k 129k 155k 181k 207k 233k 259k 285k. I just defined a new enviroment variable ROS_URI_MASTER with value http://andres-PC:11311 . It should be set to the XML-RPC URI of the master. 2.Quick Start Guide 2.1 Calibration Calibrate the servo angle offset according to the following document. Once you've done this, you should see your device attempting to access sensors, so now . 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. 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. It should be set to the XML-RPC URI of the master. () Turtlebot3V2.2 . IT- 9 487 , 2- . After noticing that throught the program, getenv() would return null, I exported ROS_MASTER_URI to a .sh file in /etc/profile.d export ROS_IP = 10.94.124.230 export ROS_MASTER_URI = http://localhost:11311/ . internal ExportApiHelper (Uri relativityUrl, Credentials credentials, int workspaceId, int blockSize, QueryRequest queryRequest, int scaleFactor) _relativityUrl = relativityUrl ; _credentials = credentials ; I have tried setting ROS_MASTER_URI and ROS_HOSTNAME. Hi. 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 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. roslaunch. You can leave it at the default (using localhost) or change it to the hostname. It first checks for a roscore also known as the ros master and checks to see if it is running. ssh. In the tutorial of win_ros, the hyperlink to explain how to do this is broken. More on that later). First make sure that they are reachable and are pinging each other successfully. 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. Reddit and its partners use cookies and similar technologies to provide you with a better experience. 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. 105438 3.97 KB Please could you: So in each tab I go like: export ROS_HOSTNAME=localhost --- export ROS_MASTER_URI=http://localhost:11311 --- roscore See also ROS Launch File type. Edit2: The only reason I started changing ROS variables was the error I am getting by the program. Robot1 : 192.168.10.101 I ran rosrun turtlesim turtle_teleop_key in Master Computer and controlled the slave computer with the keyboard. The exception always appears with the ROS_MASTER_URI undefined. Thank you very much! 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). ROS_HOSTNAME DNS ROS_IP IP . 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. 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. It is based on the Qualcomm QRB5165 SoC, which is the new generation premium-tier processor for robotics applications. the environment variable MAKEFLAGS=-j1. ok. Let's say on all the robots I have: This configuration is created in a docker environment so that you can reproduce it immediately yourself. Note: If you are building on a memory constrained system you might want to limit the number of parallel jobs by setting e.g. ( .) Viewed 636 times 0 I am trying to export ROS_MASTER_URI from a shell script and then launch roscore. I'm curious to know why you decided to override ROS_ROOT and ROS_PACKAGE_PATH like that? Edit your original question. roskineticmelodic. 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. https://minipupperdocs.readthedocs.io/en/latest/guide/Software.html 2.2 Walking 2.2.1 Run the base driver If I understand the problem correctly, perhaps the machine tag is what you're looking for? I tried searching on the internet, but I didn't find exactly what I wanted. 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. thank you for your answer. Press question mark to learn the rest of the keyboard shortcuts Now it works. I cannot find more information about this problem, so any experienced help will be really appreciated. Cookie Notice I am running a gazebo_ros_control simulation, a simple robot with two movable joints. Seems to work. 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. But also set the default of the machines to NEVER. rosmasteripmasterip.bashrcipros_master_urlros_hostnameip . ROS(Docker) ROSROS1MasterROS1 . I installed win_ros hydro in windows 7, and I am trying to run a simple talker from a Visual studio 2012 professional project. . And is that "other executable" the ROS node? The robots are always the same but the PC can change. 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