diff --git a/.travis.yml b/.travis.yml index ff8e99bd..72deb67f 100644 --- a/.travis.yml +++ b/.travis.yml @@ -114,7 +114,7 @@ jobs: - wget https://github.com/okalachev/editorconfig-checker/releases/download/1.2.1-disable-spaces-amount/ec-linux-amd64 - chmod +x ec-linux-amd64 script: - - ./ec-linux-amd64 -spaces-after-tabs -e "roslib.js|ros3d.js|eventemitter2.js|draw.cpp|BinUtils.swift|\.idea|apps/android/app|Assets.xcassets|test_parser_pass.txt|test_node_failure.txt|aruco_pose/vendor|\.stl|\.dxf" + - ./ec-linux-amd64 -spaces-after-tabs -e "roslib.js|ros3d.js|eventemitter2.js|draw.cpp|BinUtils.swift|\.idea|apps/android/app|Assets.xcassets|test_parser_pass.txt|test_node_failure.txt|aruco_pose/vendor|\.stl|\.dxf|\.dae" stages: - Build - Annotate diff --git a/builder/image-ros.sh b/builder/image-ros.sh index a0168566..7050dd33 100755 --- a/builder/image-ros.sh +++ b/builder/image-ros.sh @@ -74,18 +74,6 @@ my_travis_retry rosdep update echo_stamp "Populate rosdep for ROS user" my_travis_retry sudo -u pi rosdep update -resolve_rosdep() { - # TEMPLATE: resolve_rosdep - CATKIN_PATH=$1 - ROS_DISTRO='melodic' - OS_DISTRO='debian' - OS_VERSION='buster' - - echo_stamp "Installing dependencies apps with rosdep in ${CATKIN_PATH}" - cd ${CATKIN_PATH} - my_travis_retry rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --os=${OS_DISTRO}:${OS_VERSION} -} - export ROS_IP='127.0.0.1' # needed for running tests echo_stamp "Reconfiguring Clover repository for simplier unshallowing" @@ -94,11 +82,14 @@ git config remote.origin.fetch "+refs/heads/*:refs/remotes/origin/*" echo_stamp "Build and install Clover" cd /home/pi/catkin_ws -resolve_rosdep $(pwd) +# Don't try to install gazebo_ros +my_travis_retry rosdep install -y --from-paths src --ignore-src --rosdistro melodic --os=debian:buster \ + --skip-keys=gazebo_ros --skip-keys=gazebo_plugins my_travis_retry pip install wheel my_travis_retry pip install -r /home/pi/catkin_ws/src/clover/clover/requirements.txt source /opt/ros/melodic/setup.bash -catkin_make -j2 -DCMAKE_BUILD_TYPE=Release +# Don't build simulation plugins for actual drone +catkin_make -j2 -DCMAKE_BUILD_TYPE=Release -DCATKIN_BLACKLIST_PACKAGES=clover_gazebo_plugins echo_stamp "Install clever package (for backwards compatibility)" cd /home/pi/catkin_ws/src/clover/builder/assets/clever @@ -113,7 +104,7 @@ gitbook build touch node_modules/CATKIN_IGNORE docs/CATKIN_IGNORE _book/CATKIN_IGNORE clover/www/CATKIN_IGNORE apps/CATKIN_IGNORE # ignore documentation files by catkin echo_stamp "Installing additional ROS packages" -apt-get install -y --no-install-recommends \ +my_travis_retry apt-get install -y --no-install-recommends \ ros-melodic-dynamic-reconfigure \ ros-melodic-compressed-image-transport \ ros-melodic-rosbridge-suite \ diff --git a/builder/image-software.sh b/builder/image-software.sh index a012e037..e4ace9aa 100755 --- a/builder/image-software.sh +++ b/builder/image-software.sh @@ -80,8 +80,9 @@ echo_stamp "Update apt cache" apt-get update # && apt upgrade -y +# Let's retry fetching those packages several times, just in case echo_stamp "Software installing" -apt-get install --no-install-recommends -y \ +my_travis_retry apt-get install --no-install-recommends -y \ unzip \ zip \ ipython \ @@ -115,9 +116,7 @@ python-dev \ python3-dev \ python-systemd \ mjpg-streamer \ -python3-opencv \ -&& echo_stamp "Everything was installed!" "SUCCESS" \ -|| (echo_stamp "Some packages wasn't installed!" "ERROR"; exit 1) +python3-opencv # Deny byobu to check available updates sed -i "s/updates_available//" /usr/share/byobu/status/status diff --git a/clover/CMakeLists.txt b/clover/CMakeLists.txt index a1f3a421..d779e5f7 100644 --- a/clover/CMakeLists.txt +++ b/clover/CMakeLists.txt @@ -166,13 +166,14 @@ add_library(${PROJECT_NAME} ## The recommended prefix ensures that target names across packages don't collide add_executable(simple_offboard src/simple_offboard.cpp) -add_executable(rc src/rc.cpp) +# PX4 already has rc and led targets, so we prefix ours with clover_ +add_executable(clover_rc src/rc.cpp) add_executable(camera_markers src/camera_markers.cpp) add_executable(vpe_publisher src/vpe_publisher.cpp) -add_executable(led src/led.cpp) +add_executable(clover_led src/led.cpp) add_executable(shell src/shell.cpp) @@ -181,19 +182,24 @@ target_link_libraries(simple_offboard ${GeographicLib_LIBRARIES} ) -target_link_libraries(rc ${catkin_LIBRARIES}) +# Don't change actual binary names +set_target_properties(clover_rc PROPERTIES OUTPUT_NAME rc) + +set_target_properties(clover_led PROPERTIES OUTPUT_NAME led) + +target_link_libraries(clover_rc ${catkin_LIBRARIES}) target_link_libraries(camera_markers ${catkin_LIBRARIES}) target_link_libraries(vpe_publisher ${catkin_LIBRARIES}) -target_link_libraries(led ${catkin_LIBRARIES}) +target_link_libraries(clover_led ${catkin_LIBRARIES}) target_link_libraries(shell ${catkin_LIBRARIES}) add_dependencies(simple_offboard ${PROJECT_NAME}_generate_messages_cpp) -add_dependencies(led ${PROJECT_NAME}_generate_messages_cpp) +add_dependencies(clover_led ${PROJECT_NAME}_generate_messages_cpp) add_dependencies(shell ${PROJECT_NAME}_generate_messages_cpp) diff --git a/clover/launch/clover.launch b/clover/launch/clover.launch index 41b704ca..e1bd7142 100644 --- a/clover/launch/clover.launch +++ b/clover/launch/clover.launch @@ -13,6 +13,8 @@ + + @@ -56,7 +58,9 @@ - + + + @@ -65,14 +69,16 @@ - + - + + + diff --git a/clover/launch/led.launch b/clover/launch/led.launch index 0c74f495..d668e071 100644 --- a/clover/launch/led.launch +++ b/clover/launch/led.launch @@ -2,11 +2,12 @@ + - + diff --git a/clover/launch/main_camera.launch b/clover/launch/main_camera.launch index ed22d143..9f372b3a 100644 --- a/clover/launch/main_camera.launch +++ b/clover/launch/main_camera.launch @@ -3,6 +3,7 @@ + @@ -15,7 +16,7 @@ - + diff --git a/clover/requirements.txt b/clover/requirements.txt index 94174188..81d0fda6 100644 --- a/clover/requirements.txt +++ b/clover/requirements.txt @@ -1,5 +1,5 @@ flask==1.1.1 docopt==0.6.2 geopy==1.11.0 -smbus2==0.2.1 -VL53L1X==0.0.2 +smbus2==0.3.0 +VL53L1X==0.0.5 diff --git a/clover_description/CMakeLists.txt b/clover_description/CMakeLists.txt new file mode 100644 index 00000000..c7d647a3 --- /dev/null +++ b/clover_description/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 3.0) +project(clover_description) + +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) +install(DIRECTORY meshes DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) +install(DIRECTORY urdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/clover_description/README.md b/clover_description/README.md new file mode 100644 index 00000000..fb5fb167 --- /dev/null +++ b/clover_description/README.md @@ -0,0 +1,29 @@ +# `clover_description` ROS package + +This package contains models and URDF descriptions for the Clover 4 drone. These descriptions can be used for Gazebo simulation environment. + +Note that in order to use these descriptions in Gazebo, you need to use the plugins from [PX4 `sitl_gazebo` package](https://github.com/PX4/sitl_gazebo) and `clover_simulation` package. + +## Usage + +The descriptions are provided as [`xacro`-enabled](https://wiki.ros.org/xacro) URDF files. A [`spawn_drone.launch`](launch/spawn_drone.launch) file that spawns the model in a running Gazebo instance is also provided for convenience. + +You may provide additional parameters for `spawn_drone.launch` as well: + +* `main_camera` (*boolean*, default: *true*) - controls whether the drone will have a downward-facing camera attached; +* `rangefinder` (*boolean*, default: *true*) - controls whether the drone will have a downward-facing laser rangefinder attached; +* `led` (*boolean*, default: *true*) - controls whether the drone will have a programmable LED strip (requires plugins from `clover_simulation`); +* `gps` (*boolean*, default: *true*) - controls whether the drone will have a simulated GPS attached (requires plugins from `sitl_gazebo`); +* `maintain_camera_rate` (*boolean*, default: *false*) - slow down the simultion to maintain camera publishing rate (internally changes the camera plugin from `libgazebo_ros_camera.so` to `libthrottling_camera.so` from [`clover_simulation`](../clover_simulation/README.md#throttling-camera-plugin-throttling_camera)). + +For example, in order to spawn a drone without a GPS module, you may use the following command: + +```bash +roslaunch clover_description spawn_drone.launch gps:=false +``` + +## Tweaking + +By default, the `spawn_drone.launch` command will use the [`clover4.xacro` description file](urdf/clover/clover4.xacro). This is a "high-level" description of the drone, mainly used to attach additional sensors. + +The drone "physics" may be tweaked by changing the [`clover4_physics.xacro` file](urdf/clover/clover4_physics.xacro). diff --git a/clover_description/launch/spawn_camera.launch b/clover_description/launch/spawn_camera.launch new file mode 100644 index 00000000..9634de32 --- /dev/null +++ b/clover_description/launch/spawn_camera.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/clover_description/launch/spawn_drone.launch b/clover_description/launch/spawn_drone.launch new file mode 100644 index 00000000..078f8442 --- /dev/null +++ b/clover_description/launch/spawn_drone.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/clover_description/launch/view_drone.launch b/clover_description/launch/view_drone.launch new file mode 100644 index 00000000..8ca5c706 --- /dev/null +++ b/clover_description/launch/view_drone.launch @@ -0,0 +1,7 @@ + + + + + + + diff --git a/clover_description/media/materials/scripts/guard_transparent.material b/clover_description/media/materials/scripts/guard_transparent.material new file mode 100644 index 00000000..dfa6652c --- /dev/null +++ b/clover_description/media/materials/scripts/guard_transparent.material @@ -0,0 +1,21 @@ +material Polycarbonate +{ + technique + { + pass + { + scene_blend alpha_blend + depth_write off + + ambient 0.57 0.531 0.444 1 + diffuse 0.57 0.531 0.444 1 + specular 0.5 0.5 0.5 1 + + texture_unit + { + colour_op_ex source1 src_current src_current 0 1 0 + alpha_op_ex source1 src_manual src_current 0.72 + } + } + } +} diff --git a/clover_description/meshes/clover4/Color_tex.png.001.png b/clover_description/meshes/clover4/Color_tex.png.001.png new file mode 100644 index 00000000..deea601c Binary files /dev/null and b/clover_description/meshes/clover4/Color_tex.png.001.png differ diff --git a/clover_description/meshes/clover4/LED_144.png.001.png b/clover_description/meshes/clover4/LED_144.png.001.png new file mode 100644 index 00000000..69832bc4 Binary files /dev/null and b/clover_description/meshes/clover4/LED_144.png.001.png differ diff --git a/clover_description/meshes/clover4/carbon_tex.png b/clover_description/meshes/clover4/carbon_tex.png new file mode 100644 index 00000000..aeee08db Binary files /dev/null and b/clover_description/meshes/clover4/carbon_tex.png differ diff --git a/clover_description/meshes/clover4/clover_body_solid.dae b/clover_description/meshes/clover4/clover_body_solid.dae new file mode 100644 index 00000000..8d5f0927 --- /dev/null +++ b/clover_description/meshes/clover4/clover_body_solid.dae @@ -0,0 +1,217 @@ + + + + + Blender User + Blender 2.82.7 commit date:2020-03-12, commit time:05:06, hash:375c7dc4caf4 + + 2020-05-25T20:39:08 + 2020-05-25T20:39:08 + + Z_UP + + + + + + + Color_tex_png_001_png + + + + + Color_tex_png_001_png-surface + + + + + + 0 0 0 1 + + + + + + 1.45 + + + + + + + + + + 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36413 12265 11309 36414 36414 12104 11300 36415 36415 12263 11300 36416 36416 12001 11259 36417 36417 12150 11226 36418 36418 12151 11259 36419 36419 12059 11228 36420 36420 12302 11319 36421 36421 12282 11228 36422 36422 31622 11293 36423 36423 12012 11282 36424 36424 12162 11282 36425 36425 12141 11241 36426 36426 31471 11206 36427 36427 31435 11241 36428 36428 11988 11308 36429 36429 12139 11307 36430 36430 11989 11307 36431 36431 12181 11278 36432 36432 31486 11264 36433 36433 31653 11266 36434 36434 12439 11327 36435 36435 12520 11328 36436 36436 12368 11328 36437 36437 32008 11329 36438 36438 31841 11330 36439 36439 12594 11329 36440 36440 31776 11331 36441 36441 12465 11332 36442 36442 31943 11331 36443 36443 31840 11333 36444 36444 31908 11334 36445 36445 31909 11333 36446 36446 31910 11335 36447 36447 12606 11336 36448 36448 12551 11335 36449 36449 32031 11337 36450 36450 31863 11337 36451 36451 32030 11337 36452 36452 32006 11103 36453 36453 31837 11104 36454 36454 32005 11104 36455 36455 32005 11104 36456 36456 12395 11172 36457 36457 12549 11172 36458 36458 32033 11180 36459 36459 12400 11181 36460 36460 32032 11181 36461 36461 12533 11134 36462 36462 31851 11135 36463 36463 32017 11135 36464 36464 31990 11338 36465 36465 31822 11339 36466 36466 31989 11339 36467 36467 32061 11340 36468 36468 31998 11341 36469 36469 31999 11342 36470 36470 32095 11343 36471 36471 32004 11223 36472 36472 32094 11223 36473 36473 31978 11344 36474 36474 31810 11345 36475 36475 31977 11345 36476 36476 31808 11346 36477 36477 12455 11347 36478 36478 12305 11347 36479 36479 31972 11348 36480 36480 31804 11349 36481 36481 31805 11348 36482 36482 31989 11339 36483 36483 31821 11350 36484 36484 31988 11350 36485 36485 12588 11223 36486 36486 31896 11351 36487 36487 12563 11351 36488 36488 32017 11135 36489 36489 31850 7608 36490 36490 32016 7608 36491 36491 12333 11352 36492 36492 12493 11353 36493 36493 12483 11352 36494 36494 31807 11354 36495 36495 12496 11355 36496 36496 31974 11354 36497 36497 31903 11356 36498 36498 32068 11356 36499 36499 32070 11356 36500 36500 31803 11353 36501 36501 12492 11357 36502 36502 12493 11353 36503 36503 12442 11358 36504 36504 32077 11359 36505 36505 32078 11358 36506 36506 12535 11130 36507 36507 12381 11134 36508 36508 12533 11134 36509 36509 32096 11360 36510 36510 12601 11351 36511 36511 12516 11360 36512 36512 32084 11361 36513 36513 12447 11362 36514 36514 32083 11362 36515 36515 31900 11363 36516 36516 12596 10871 36517 36517 12593 11360 36518 36518 12507 11364 36519 36519 31798 11365 36520 36520 12488 11365 36521 36521 12468 11366 36522 36522 31777 11367 36523 36523 12467 11367 36524 36524 12377 11368 36525 36525 32098 11369 36526 36526 12591 11369 36527 36527 32035 11370 36528 36528 12397 11180 36529 36529 32033 11180 36530 36530 31843 11125 36531 36531 12535 11130 36532 36532 32010 11125 36533 36533 12584 11371 36534 36534 12428 11343 36535 36535 32065 11343 36536 36536 12558 11165 36537 36537 31901 11372 36538 36538 12403 11373 36539 36539 31985 11374 36540 36540 31817 11364 36541 36541 12507 11364 36542 36542 12586 11375 36543 36543 31905 11376 36544 36544 12589 11376 36545 36545 12488 11365 36546 36546 31799 11364 36547 36547 12489 11364 36548 36548 31791 11377 36549 36549 31959 11378 36550 36550 31958 11377 36551 36551 31769 11379 36552 36552 12460 11380 36553 36553 12459 11379 36554 36554 12598 11381 36555 36555 12370 11382 36556 36556 12375 11381 36557 36557 12564 11383 36558 36558 12530 11384 36559 36559 12582 11385 36560 36560 12605 11327 36561 36561 12438 11386 36562 36562 12604 11386 36563 36563 31796 11387 36564 36564 12485 11388 36565 36565 31963 11387 36566 36566 31795 11388 36567 36567 12484 11389 36568 36568 12485 11388 36569 36569 12334 11389 36570 36570 12483 11352 36571 36571 12484 11389 36572 36572 31777 11367 36573 36573 12477 11390 36574 36574 12467 11367 36575 36575 12443 11391 36576 36576 12610 11392 36577 36577 12609 11391 36578 36578 12403 11373 36579 36579 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21813 17671 63169 63169 21815 17722 63170 63170 21818 17723 63171 63171 21796 17724 63172 63172 39989 17663 63173 63173 21817 17660 63174 63174 21800 17725 63175 63175 21812 17669 63176 63176 21810 17721 63177 63177 21799 17726 63178 63178 21811 17658 63179 63179 21808 17720 63180 63180 21802 17727 63181 63181 21796 17724 63182 63182 21814 17719 63183 63183 21803 17728 63184 63184 21802 17727 63185 63185 21816 17667 63186 63186 21798 17729 63187 63187 21810 17721 63188 63188 21815 17722 63189 63189 21801 17670 63190 63190 21803 17728 63191 63191 21822 17717 63192 63192 21811 17658 63193 63193 21823 17686 63194 63194 21829 17716 63195 63195 21812 17669 63196 63196 21824 17707 63197 63197 21824 17707 63198 63198 21813 17671 63199 63199 21825 17708 63200 63200 21830 17674 63201 63201 21808 17720 63202 63202 21818 17723 63203 63203 21790 17730 63204 63204 39998 17730 63205 63205 39995 17730 63206 63206 21819 17693 63207 63207 21818 17723 63208 63208 21807 17662 63209 63209 21821 17668 63210 63210 21816 17667 63211 63211 21828 17692 63212 63212 39962 228 63213 63213 21779 17698 63214 63214 39963 17700 63215 63215 21863 17731 63216 63216 21881 17732 63217 63217 21875 17733 63218 63218 40042 17734 63219 63219 40040 17734 63220 63220 40039 17734 63221 63221 21882 17735 63222 63222 21859 17736 63223 63223 21871 17737 63224 63224 21873 17738 63225 63225 21868 17739 63226 63226 21880 17740 63227 63227 40026 17741 63228 63228 21871 17737 63229 63229 40025 17742 63230 63230 21864 17743 63231 63231 21877 17744 63232 63232 21876 17745 63233 63233 21736 17614 63234 63234 21762 17615 63235 63235 21756 17616 63236 63236 21844 184 63237 63237 40003 17746 63238 63238 40002 184 63239 63239 40013 17747 63240 63240 40045 17747 63241 63241 40037 17747 63242 63242 21838 17748 63243 63243 40016 17748 63244 63244 40020 17748 63245 63245 40012 17749 63246 63246 40034 17749 63247 63247 40010 17749 63248 63248 21847 17750 63249 63249 40043 17750 63250 63250 40044 17750 63251 63251 40011 17751 63252 63252 40038 17751 63253 63253 40014 17751 63254 63254 21831 17752 63255 63255 40031 17752 63256 63256 21870 17752 63257 63257 21837 17753 63258 63258 40020 17753 63259 63259 40022 17753 63260 63260 40029 17754 63261 63261 21835 17754 63262 63262 40023 17754 63263 63263 21871 17737 63264 63264 21861 17755 63265 63265 21873 17738 63266 63266 21849 17756 63267 63267 21880 17740 63268 63268 21874 17757 63269 63269 21876 17745 63270 63270 21851 17758 63271 63271 21850 17759 63272 63272 21850 17759 63273 63273 21875 17733 63274 63274 21881 17732 63275 63275 21851 17758 63276 63276 21877 17744 63277 63277 21879 17760 63278 63278 40031 17761 63279 63279 40004 17761 63280 63280 40032 17761 63281 63281 21842 228 63282 63282 21834 17762 63283 63283 21841 17763 63284 63284 21841 17763 63285 63285 21833 17764 63286 63286 21840 17764 63287 63287 21843 17765 63288 63288 40008 17766 63289 63289 40007 17765 63290 63290 40009 17767 63291 63291 21845 17766 63292 63292 21846 17768 63293 63293 40005 17769 63294 63294 40030 17769 63295 63295 40004 17769 63296 63296 21840 17764 63297 63297 40003 17746 63298 63298 21839 17770 63299 63299 40022 17771 63300 63300 21836 17771 63301 63301 21837 17771 63302 63302 21850 17759 63303 63303 21881 17732 63304 63304 21876 17745 63305 63305 21836 17772 63306 63306 40023 17772 63307 63307 21835 17772 63308 63308 40032 17773 63309 63309 40004 17773 63310 63310 40030 17773 63311 63311 40024 17774 63312 63312 40041 17774 63313 63313 21857 17774 63314 63314 40015 17775 63315 63315 21856 17775 63316 63316 40018 17775 63317 63317 40029 17776 63318 63318 40005 17776 63319 63319 21835 17776 63320 63320 40016 17777 63321 63321 21832 17777 63322 63322 40017 17777 63323 63323 21832 17778 63324 63324 21870 17778 63325 63325 40017 17778 63326 63326 21879 17760 63327 63327 21852 17779 63328 63328 21851 17758 63329 63329 40025 17742 63330 63330 21880 17740 63331 63331 21849 17756 63332 63332 21849 17756 63333 63333 21875 17733 63334 63334 21850 17759 63335 63335 21872 17780 63336 63336 40026 17741 63337 63337 21852 17779 63338 63338 40025 17742 63339 63339 21871 17737 63340 63340 21873 17738 63341 63341 40039 17781 63342 63342 21853 17781 63343 63343 21854 17781 63344 63344 40009 17767 63345 63345 21844 184 63346 63346 40002 184 63347 63347 21872 17780 63348 63348 40033 17782 63349 63349 21882 17735 63350 63350 21869 17783 63351 63351 21876 17745 63352 63352 21881 17732 63353 63353 21862 17784 63354 63354 21875 17733 63355 63355 21874 17757 63356 63356 21878 17785 63357 63357 21860 17786 63358 63358 21872 17780 63359 63359 21879 17760 63360 63360 21866 17787 63361 63361 21878 17785 63362 63362 21868 17739 63363 63363 21874 17757 63364 63364 21880 17740 63365 63365 21879 17760 63366 63366 21865 17788 63367 63367 21867 17789 63368 63368 21854 17790 63369 63369 40042 17790 63370 63370 40039 17790 63371 63371 21842 228 63372 63372 40007 17765 63373 63373 40006 228 63374 63374 21927 17791 63375 63375 21921 17792 63376 63376 21933 17793 63377 63377 40086 17794 63378 63378 40084 17794 63379 63379 40083 17794 63380 63380 21923 17795 63381 63381 40077 17796 63382 63382 21911 17797 63383 63383 21925 17798 63384 63384 21920 17799 63385 63385 21932 17800 63386 63386 21937 17801 63387 63387 21923 17795 63388 63388 21925 17798 63389 63389 21928 17802 63390 63390 21917 17803 63391 63391 21929 17804 63392 63392 40071 17805 63393 63393 21936 17806 63394 63394 21946 17807 63395 63395 21891 17808 63396 63396 40046 184 63397 63397 21896 184 63398 63398 21904 17809 63399 63399 40089 17809 63400 63400 40081 17809 63401 63401 21890 17810 63402 63402 40060 17810 63403 63403 40064 17810 63404 63404 40056 17811 63405 63405 40078 17811 63406 63406 40054 17811 63407 63407 40070 17812 63408 63408 40087 17812 63409 63409 40088 17812 63410 63410 40055 17813 63411 63411 40082 17813 63412 63412 40058 17813 63413 63413 21883 17814 63414 63414 40075 17814 63415 63415 21922 17814 63416 63416 21889 17815 63417 63417 40064 17815 63418 63418 40066 17815 63419 63419 40073 17816 63420 63420 21887 17816 63421 63421 40067 17816 63422 63422 21925 17798 63423 63423 21911 17797 63424 63424 21913 17817 63425 63425 40062 17818 63426 63426 21939 17819 63427 63427 40059 17820 63428 63428 40057 17821 63429 63429 21943 17822 63430 63430 21942 17823 63431 63431 40068 17824 63432 63432 21944 17825 63433 63433 40062 17818 63434 63434 40071 17805 63435 63435 21935 17826 63436 63436 40068 17824 63437 63437 40075 17827 63438 63438 40048 17827 63439 63439 40076 17827 63440 63440 21894 228 63441 63441 21886 17828 63442 63442 21893 17828 63443 63443 21892 17829 63444 63444 21886 17828 63445 63445 21885 17830 63446 63446 40051 17831 63447 63447 21897 17832 63448 63448 40052 17833 63449 63449 40053 17834 63450 63450 21897 17832 63451 63451 21898 17835 63452 63452 40049 17836 63453 63453 40074 17836 63454 63454 40048 17836 63455 63455 21892 17829 63456 63456 40047 17837 63457 63457 21891 17808 63458 63458 40066 17838 63459 63459 21888 17838 63460 63460 21889 17838 63461 63461 21903 17839 63462 63462 21940 17840 63463 63463 21941 17841 63464 63464 21888 17842 63465 63465 40067 17842 63466 63466 21887 17842 63467 63467 40076 17843 63468 63468 40048 17843 63469 63469 40074 17843 63470 63470 21900 17844 63471 63471 40085 17844 63472 63472 21909 17844 63473 63473 21902 17845 63474 63474 21908 17845 63475 63475 21901 17845 63476 63476 40073 17846 63477 63477 40049 17846 63478 63478 21887 17846 63479 63479 40060 17847 63480 63480 21884 17847 63481 63481 40061 17847 63482 63482 21884 17848 63483 63483 21922 17848 63484 63484 40061 17848 63485 63485 21942 17823 63486 63486 21936 17806 63487 63487 40057 17821 63488 63488 21941 17841 63489 63489 21943 17822 63490 63490 21903 17839 63491 63491 21945 17849 63492 63492 21940 17840 63493 63493 40059 17820 63494 63494 21939 17819 63495 63495 21945 17849 63496 63496 40059 17820 63497 63497 21944 17825 63498 63498 21938 17850 63499 63499 40062 17818 63500 63500 21935 17826 63501 63501 21937 17801 63502 63502 40068 17824 63503 63503 40083 17851 63504 63504 21905 17851 63505 63505 21906 17851 63506 63506 21898 17835 63507 63507 40046 184 63508 63508 40053 17834 63509 63509 21936 17806 63510 63510 21930 17852 63511 63511 21924 17853 63512 63512 21944 17825 63513 63513 21926 17854 63514 63514 21938 17850 63515 63515 21939 17819 63516 63516 21933 17793 63517 63517 21945 17849 63518 63518 21942 17823 63519 63519 21931 17855 63520 63520 21930 17852 63521 63521 21943 17822 63522 63522 21929 17804 63523 63523 21931 17855 63524 63524 21934 17856 63525 63525 21912 17857 63526 63526 40077 17796 63527 63527 21933 17793 63528 63528 21916 17858 63529 63529 21928 17802 63530 63530 21926 17854 63531 63531 21915 17859 63532 63532 21927 17791 63533 63533 21924 17853 63534 63534 21918 17860 63535 63535 21912 17857 63536 63536 21930 17852 63537 63537 21919 17861 63538 63538 21918 17860 63539 63539 21932 17800 63540 63540 21914 17862 63541 63541 21926 17854 63542 63542 21931 17855 63543 63543 21917 17803 63544 63544 21919 17861 63545 63545 21938 17850 63546 63546 21927 17791 63547 63547 21939 17819 63548 63548 21945 17849 63549 63549 21928 17802 63550 63550 21940 17840 63551 63551 21940 17840 63552 63552 21929 17804 63553 63553 21941 17841 63554 63554 21946 17807 63555 63555 21924 17853 63556 63556 21934 17856 63557 63557 21906 17863 63558 63558 40086 17863 63559 63559 40083 17863 63560 63560 21935 17826 63561 63561 21934 17856 63562 63562 21923 17795 63563 63563 21937 17801 63564 63564 21932 17800 63565 63565 21944 17825 63566 63566 40050 228 63567 63567 21895 17864 63568 63568 40051 17831 63569 63569 21979 17865 63570 63570 21997 17866 63571 63571 21991 17867 63572 63572 40130 17868 63573 63573 40128 17868 63574 63574 40127 17868 63575 63575 21998 17603 63576 63576 21975 17869 63577 63577 21987 17870 63578 63578 21989 17871 63579 63579 21984 17872 63580 63580 21996 17873 63581 63581 40114 17874 63582 63582 21987 17870 63583 63583 40113 17875 63584 63584 21980 17876 63585 63585 21993 17877 63586 63586 21992 17878 63587 63587 21960 184 63588 63588 40091 17879 63589 63589 40090 184 63590 63590 40101 17880 63591 63591 40133 17880 63592 63592 40125 17880 63593 63593 21954 17881 63594 63594 40104 17881 63595 63595 40108 17881 63596 63596 40100 17882 63597 63597 40122 17882 63598 63598 40098 17882 63599 63599 21963 17883 63600 63600 40131 17883 63601 63601 40132 17883 63602 63602 40099 17884 63603 63603 40126 17884 63604 63604 40102 17884 63605 63605 21947 17885 63606 63606 40119 17885 63607 63607 21986 17885 63608 63608 21953 17886 63609 63609 40108 17886 63610 63610 40110 17886 63611 63611 40117 17887 63612 63612 21951 17887 63613 63613 40111 17887 63614 63614 21987 17870 63615 63615 21977 17626 63616 63616 21989 17871 63617 63617 21965 17888 63618 63618 21996 17873 63619 63619 21990 17889 63620 63620 21992 17878 63621 63621 21967 17890 63622 63622 21966 17891 63623 63623 21966 17891 63624 63624 21991 17867 63625 63625 21997 17866 63626 63626 21967 17890 63627 63627 21993 17877 63628 63628 21995 17892 63629 63629 40119 17893 63630 63630 40092 17893 63631 63631 40120 17893 63632 63632 21958 228 63633 63633 21950 17894 63634 63634 21957 17633 63635 63635 21956 17635 63636 63636 21950 17894 63637 63637 21949 17635 63638 63638 40095 17895 63639 63639 21961 17637 63640 63640 40096 17637 63641 63641 40097 17896 63642 63642 21961 17637 63643 63643 21962 17897 63644 63644 40093 17898 63645 63645 40118 17898 63646 63646 40092 17898 63647 63647 21956 17635 63648 63648 40091 17879 63649 63649 21955 17879 63650 63650 40110 17899 63651 63651 21952 17899 63652 63652 21953 17899 63653 63653 21966 17891 63654 63654 21997 17866 63655 63655 21992 17878 63656 63656 21952 17900 63657 63657 40111 17900 63658 63658 21951 17900 63659 63659 40120 17901 63660 63660 40092 17901 63661 63661 40118 17901 63662 63662 40112 17902 63663 63663 40129 17902 63664 63664 21973 17902 63665 63665 40103 17903 63666 63666 21972 17903 63667 63667 40106 17903 63668 63668 40117 17904 63669 63669 40093 17904 63670 63670 21951 17904 63671 63671 40104 17905 63672 63672 21948 17905 63673 63673 40105 17905 63674 63674 21948 17906 63675 63675 21986 17906 63676 63676 40105 17906 63677 63677 21995 17892 63678 63678 21968 17614 63679 63679 21967 17890 63680 63680 40113 17875 63681 63681 21996 17873 63682 63682 21965 17888 63683 63683 21965 17888 63684 63684 21991 17867 63685 63685 21966 17891 63686 63686 21988 17616 63687 63687 40114 17874 63688 63688 21968 17614 63689 63689 40113 17875 63690 63690 21987 17870 63691 63691 21989 17871 63692 63692 40127 17907 63693 63693 21969 17907 63694 63694 21970 17907 63695 63695 40097 17896 63696 63696 21960 184 63697 63697 40090 184 63698 63698 21988 17616 63699 63699 40121 17908 63700 63700 21998 17603 63701 63701 21985 17651 63702 63702 21992 17878 63703 63703 21997 17866 63704 63704 21990 17889 63705 63705 21979 17865 63706 63706 21991 17867 63707 63707 21988 17616 63708 63708 21982 17652 63709 63709 21976 17909 63710 63710 21994 17615 63711 63711 21983 17654 63712 63712 21982 17652 63713 63713 21996 17873 63714 63714 21978 17910 63715 63715 21990 17889 63716 63716 21995 17892 63717 63717 21981 17911 63718 63718 21983 17654 63719 63719 21970 17912 63720 63720 40130 17912 63721 63721 40127 17912 63722 63722 21958 228 63723 63723 40095 17895 63724 63724 40094 228 63725 63725 22031 17913 63726 63726 22049 17914 63727 63727 22043 17915 63728 63728 40174 17916 63729 63729 40172 17916 63730 63730 40171 17916 63731 63731 22050 17917 63732 63732 22027 17918 63733 63733 22039 17919 63734 63734 22041 17920 63735 63735 22036 17921 63736 63736 22048 17922 63737 63737 40158 17923 63738 63738 22039 17919 63739 63739 40157 17924 63740 63740 22032 17925 63741 63741 22045 17926 63742 63742 22044 17927 63743 63743 22007 17928 63744 63744 40134 184 63745 63745 22012 184 63746 63746 40145 17929 63747 63747 40177 17929 63748 63748 40169 17929 63749 63749 22006 17930 63750 63750 40148 17930 63751 63751 40152 17930 63752 63752 40144 17931 63753 63753 40166 17931 63754 63754 40142 17931 63755 63755 22015 17932 63756 63756 40175 17932 63757 63757 40176 17932 63758 63758 40143 17933 63759 63759 40170 17933 63760 63760 40146 17933 63761 63761 21999 17934 63762 63762 40163 17934 63763 63763 22038 17934 63764 63764 22005 17935 63765 63765 40152 17935 63766 63766 40154 17935 63767 63767 40161 17936 63768 63768 22003 17936 63769 63769 40155 17936 63770 63770 22039 17919 63771 63771 22029 17937 63772 63772 22041 17920 63773 63773 22017 17938 63774 63774 22048 17922 63775 63775 22042 17939 63776 63776 22044 17927 63777 63777 22019 17940 63778 63778 22018 17941 63779 63779 22018 17941 63780 63780 22043 17915 63781 63781 22049 17914 63782 63782 22019 17940 63783 63783 22045 17926 63784 63784 22047 17942 63785 63785 40163 17943 63786 63786 40136 17943 63787 63787 40164 17943 63788 63788 22010 228 63789 63789 22002 17944 63790 63790 22009 17696 63791 63791 22008 17945 63792 63792 22002 17944 63793 63793 22001 17697 63794 63794 40139 17698 63795 63795 22013 17699 63796 63796 40140 17699 63797 63797 40141 17702 63798 63798 22013 17699 63799 63799 22014 17702 63800 63800 40137 17946 63801 63801 40162 17946 63802 63802 40136 17946 63803 63803 22008 17945 63804 63804 40135 17928 63805 63805 22007 17928 63806 63806 40154 17947 63807 63807 22004 17947 63808 63808 22005 17947 63809 63809 22018 17941 63810 63810 22049 17914 63811 63811 22044 17927 63812 63812 22004 17948 63813 63813 40155 17948 63814 63814 22003 17948 63815 63815 40164 17949 63816 63816 40136 17949 63817 63817 40162 17949 63818 63818 40156 17950 63819 63819 40173 17950 63820 63820 22025 17950 63821 63821 40147 17951 63822 63822 22024 17951 63823 63823 40150 17951 63824 63824 40161 17952 63825 63825 40137 17952 63826 63826 22003 17952 63827 63827 40148 17953 63828 63828 22000 17953 63829 63829 40149 17953 63830 63830 22000 17954 63831 63831 22038 17954 63832 63832 40149 17954 63833 63833 22047 17942 63834 63834 22020 17955 63835 63835 22019 17940 63836 63836 40157 17924 63837 63837 22048 17922 63838 63838 22017 17938 63839 63839 22017 17938 63840 63840 22043 17915 63841 63841 22018 17941 63842 63842 22040 17956 63843 63843 40158 17923 63844 63844 22020 17955 63845 63845 40157 17924 63846 63846 22039 17919 63847 63847 22041 17920 63848 63848 40171 17957 63849 63849 22021 17957 63850 63850 22022 17957 63851 63851 22014 17702 63852 63852 40134 184 63853 63853 40141 17702 63854 63854 22040 17956 63855 63855 40165 17958 63856 63856 22050 17917 63857 63857 22037 17959 63858 63858 22044 17927 63859 63859 22049 17914 63860 63860 22030 17960 63861 63861 22043 17915 63862 63862 22042 17939 63863 63863 22046 17961 63864 63864 22028 17962 63865 63865 22040 17956 63866 63866 22046 17961 63867 63867 22035 17963 63868 63868 22034 17964 63869 63869 22048 17922 63870 63870 22030 17960 63871 63871 22042 17939 63872 63872 22047 17942 63873 63873 22033 17965 63874 63874 22035 17963 63875 63875 22022 17966 63876 63876 40174 17966 63877 63877 40171 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31646 11321 95117 95117 31738 11322 95118 95118 31572 11322 95119 95119 12118 11312 95120 95120 12103 11323 95121 95121 12262 11323 95122 95122 12253 10903 95123 95123 31714 11280 95124 95124 12098 11280 95125 95125 12095 11246 95126 95126 31621 11292 95127 95127 12172 11290 95128 95128 31466 11290 95129 95129 12264 11248 95130 95130 12212 11247 95131 95131 12206 11315 95132 95132 31577 11294 95133 95133 31576 11193 95134 95134 12233 11193 95135 95135 12132 11310 95136 95136 12131 11273 95137 95137 12297 11273 95138 95138 12101 11324 95139 95139 12099 11191 95140 95140 12258 11191 95141 95141 12203 10861 95142 95142 12051 10861 95143 95143 12069 10935 95144 95144 31658 11298 95145 95145 12047 11298 95146 95146 31490 11299 95147 95147 31492 11317 95148 95148 31685 11316 95149 95149 31669 11200 95150 95150 31646 11321 95151 95151 12035 11321 95152 95152 31478 11301 95153 95153 12258 11191 95154 95154 12099 11191 95155 95155 12100 11280 95156 95156 12301 11305 95157 95157 12135 11305 95158 95158 31594 11269 95159 95159 12262 11323 95160 95160 12103 11323 95161 95161 12102 11325 95162 95162 11996 11326 95163 95163 31439 11257 95164 95164 12145 11257 95165 95165 31487 11207 95166 95166 31572 11322 95167 95167 31738 11322 95168 95168 11997 11189 95169 95169 11996 11326 95170 95170 12146 11326 95171 95171 12265 11309 95172 95172 12105 11309 95173 95173 12104 11300 95174 95174 12001 11259 95175 95175 31444 11226 95176 95176 12150 11226 95177 95177 12059 11228 95178 95178 12066 11319 95179 95179 12302 11319 95180 95180 31622 11293 95181 95181 12011 11293 95182 95182 12012 11282 95183 95183 12141 11241 95184 95184 31638 11206 95185 95185 31471 11206 95186 95186 11988 11308 95187 95187 12138 11308 95188 95188 12139 11307 95189 95189 12181 11278 95190 95190 31475 11278 95191 95191 31486 11264 95192 95192 12439 11327 95193 95193 12605 11327 95194 95194 12520 11328 95195 95195 32008 11329 95196 95196 31908 11334 95197 95197 31841 11330 95198 95198 31776 11331 95199 95199 12315 11332 95200 95200 12465 11332 95201 95201 31840 11333 95202 95202 31841 11330 95203 95203 31908 11334 95204 95204 31910 11335 95205 95205 12440 11432 95206 95206 12606 11336 95207 95207 32031 20971 95208 95208 31864 20971 95209 95209 31863 20971 95210 95210 32006 11103 95211 95211 31838 11103 95212 95212 31837 11104 95213 95213 32005 11104 95214 95214 31837 11104 95215 95215 12395 11172 95216 95216 32033 11180 95217 95217 12397 11180 95218 95218 12400 11181 95219 95219 12533 11134 95220 95220 12381 11134 95221 95221 31851 11135 95222 95222 31990 11338 95223 95223 31823 11338 95224 95224 31822 11339 95225 95225 32061 11340 95226 95226 12373 11341 95227 95227 31998 11341 95228 95228 32095 11343 95229 95229 32003 11343 95230 95230 32004 11223 95231 95231 31978 11344 95232 95232 31811 11344 95233 95233 31810 11345 95234 95234 31808 11346 95235 95235 12498 11346 95236 95236 12455 11347 95237 95237 31972 11348 95238 95238 31971 11349 95239 95239 31804 11349 95240 95240 31989 11339 95241 95241 31822 11339 95242 95242 31821 11350 95243 95243 12588 11223 95244 95244 31897 11223 95245 95245 31896 11351 95246 95246 32017 11135 95247 95247 31851 11135 95248 95248 31850 7608 95249 95249 12333 11352 95250 95250 31803 11353 95251 95251 12493 11353 95252 95252 31807 11354 95253 95253 31806 11421 95254 95254 12496 11355 95255 95255 31903 20972 95256 95256 31902 20972 95257 95257 32068 20972 95258 95258 31803 11353 95259 95259 12342 11357 95260 95260 12492 11357 95261 95261 12442 11358 95262 95262 12441 11359 95263 95263 32077 11359 95264 95264 12535 11130 95265 95265 12382 11130 95266 95266 12381 11134 95267 95267 32096 11360 95268 95268 32097 11351 95269 95269 12601 11351 95270 95270 32084 11361 95271 95271 12446 11361 95272 95272 12447 11362 95273 95273 31900 11363 95274 95274 31904 10871 95275 95275 12596 10871 95276 95276 12507 11364 95277 95277 31817 11364 95278 95278 31798 11365 95279 95279 12468 11366 95280 95280 31778 11366 95281 95281 31777 11367 95282 95282 12377 11368 95283 95283 12600 11413 95284 95284 32098 11369 95285 95285 32035 11370 95286 95286 31869 11370 95287 95287 12397 11180 95288 95288 31843 11125 95289 95289 12382 11130 95290 95290 12535 11130 95291 95291 12584 11371 95292 95292 12424 11371 95293 95293 12428 11343 95294 95294 12558 11165 95295 95295 12595 11169 95296 95296 31901 11372 95297 95297 31985 11374 95298 95298 12358 11374 95299 95299 31817 11364 95300 95300 12586 11375 95301 95301 31871 20973 95302 95302 31905 11376 95303 95303 12488 11365 95304 95304 31798 11365 95305 95305 31799 11364 95306 95306 31791 11377 95307 95307 31792 11378 95308 95308 31959 11378 95309 95309 31769 11379 95310 95310 31770 11380 95311 95311 12460 11380 95312 95312 12598 11381 95313 95313 31898 20974 95314 95314 12370 11382 95315 95315 12564 11383 95316 95316 12528 11383 95317 95317 12530 11384 95318 95318 12605 11327 95319 95319 12439 11327 95320 95320 12438 11386 95321 95321 31796 11387 95322 95322 31795 11388 95323 95323 12485 11388 95324 95324 31795 11388 95325 95325 12334 11389 95326 95326 12484 11389 95327 95327 12334 11389 95328 95328 12333 11352 95329 95329 12483 11352 95330 95330 31777 11367 95331 95331 31787 11390 95332 95332 12477 11390 95333 95333 12443 11391 95334 95334 12444 11392 95335 95335 12610 11392 95336 95336 12403 11373 95337 95337 31869 11370 95338 95338 32035 11370 95339 95339 31832 11033 95340 95340 12371 11034 95341 95341 12523 11034 95342 95342 31773 11393 95343 95343 12308 11394 95344 95344 12458 11394 95345 95345 12470 11395 95346 95346 31780 20975 95347 95347 12319 11396 95348 95348 31842 11124 95349 95349 31843 11125 95350 95350 32010 11125 95351 95351 31797 11397 95352 95352 31796 11387 95353 95353 31963 11387 95354 95354 31909 11333 95355 95355 32071 11398 95356 95356 12597 11398 95357 95357 31820 11399 95358 95358 31819 20976 95359 95359 31986 11400 95360 95360 31850 7608 95361 95361 31832 11033 95362 95362 32000 11033 95363 95363 12323 11402 95364 95364 31782 11403 95365 95365 12472 11403 95366 95366 31928 11405 95367 95367 12356 11406 95368 95368 31983 11406 95369 95369 12611 11408 95370 95370 12445 11408 95371 95371 12446 11361 95372 95372 12449 11409 95373 95373 12452 11410 95374 95374 12618 11410 95375 95375 12540 11110 95376 95376 12387 11110 95377 95377 12391 11079 95378 95378 32085 11411 95379 95379 31922 11411 95380 95380 12451 11412 95381 95381 12565 11413 95382 95382 32034 11186 95383 95383 12402 11414 95384 95384 12391 11079 95385 95385 12389 11065 95386 95386 12543 11065 95387 95387 12609 11391 95388 95388 32077 11359 95389 95389 12441 11359 95390 95390 12498 11346 95391 95391 31808 11346 95392 95392 31809 11415 95393 95393 12324 11416 95394 95394 12323 11402 95395 95395 31950 11404 95396 95396 12589 11376 95397 95397 31905 11376 95398 95398 12537 11008 95399 95399 12330 11417 95400 95400 31791 11377 95401 95401 31958 11377 95402 95402 12517 11038 95403 95403 12366 11038 95404 95404 31859 11039 95405 95405 32060 11418 95406 95406 12425 20977 95407 95407 12424 11371 95408 95408 12610 11392 95409 95409 12444 11392 95410 95410 12445 11408 95411 95411 12519 1580 95412 95412 12388 1653 95413 95413 32064 1674 95414 95414 12326 11419 95415 95415 12325 11420 95416 95416 12475 11420 95417 95417 12395 11172 95418 95418 31842 11124 95419 95419 32009 11124 95420 95420 12597 11398 95421 95421 32071 11398 95422 95422 12598 11381 95423 95423 31806 11421 95424 95424 31804 11349 95425 95425 31971 11349 95426 95426 12591 11369 95427 95427 32098 11369 95428 95428 32008 11329 95429 95429 12389 11065 95430 95430 12366 11038 95431 95431 12517 11038 95432 95432 12355 11422 95433 95433 31814 11423 95434 95434 12504 11423 95435 95435 12386 11424 95436 95436 31998 11341 95437 95437 12373 11341 95438 95438 12556 11424 95439 95439 12401 11439 95440 95440 12402 11414 95441 95441 12489 11364 95442 95442 31799 11364 95443 95443 31800 11425 95444 95444 12341 11426 95445 95445 31811 11344 95446 95446 31978 11344 95447 95447 31955 11427 95448 95448 12328 11427 95449 95449 12329 11428 95450 95450 31787 11390 95451 95451 12326 11419 95452 95452 31953 11419 95453 95453 12604 11386 95454 95454 12438 11386 95455 95455 31911 11429 95456 95456 12475 11420 95457 95457 12325 11420 95458 95458 12324 11416 95459 95459 31782 11403 95460 95460 12321 11430 95461 95461 12471 11430 95462 95462 12312 11431 95463 95463 31780 20975 95464 95464 12470 11395 95465 95465 12440 11432 95466 95466 12442 11358 95467 95467 32078 11358 95468 95468 31959 11378 95469 95469 31792 11378 95470 95470 12365 11433 95471 95471 12548 11039 95472 95472 31859 11039 95473 95473 31858 7656 95474 95474 12593 11360 95475 95475 12563 11351 95476 95476 31896 11351 95477 95477 31824 11434 95478 95478 31823 11338 95479 95479 31990 11338 95480 95480 12422 11435 95481 95481 12425 20977 95482 95482 32060 11418 95483 95483 31812 11437 95484 95484 31797 11397 95485 95485 31964 11397 95486 95486 12553 11438 95487 95487 12398 20978 95488 95488 12401 11439 95489 95489 31876 11440 95490 95490 31875 20979 95491 95491 32040 11441 95492 95492 12452 11410 95493 95493 12453 11442 95494 95494 12619 11442 95495 95495 32022 7609 95496 95496 31858 7656 95497 95497 31838 11103 95498 95498 31890 20980 95499 95499 31888 20980 95500 95500 32053 20980 95501 95501 12321 11430 95502 95502 31776 11331 95503 95503 31943 11331 95504 95504 32083 11362 95505 95505 12447 11362 95506 95506 31922 11411 95507 95507 12342 11357 95508 95508 12341 11426 95509 95509 12491 11426 95510 95510 12308 11394 95511 95511 12307 11444 95512 95512 12457 11444 95513 95513 31983 11406 95514 95514 12356 11406 95515 95515 12355 11422 95516 95516 12305 11347 95517 95517 12455 11347 95518 95518 12456 11445 95519 95519 12587 11008 95520 95520 12537 11008 95521 95521 12528 11383 95522 95522 12570 11334 95523 95523 12411 11334 95524 95524 12416 11008 95525 95525 12571 11447 95526 95526 12567 11448 95527 95527 12408 11448 95528 95528 12451 11412 95529 95529 12450 11449 95530 95530 12616 11449 95531 95531 12311 11450 95532 95532 12312 11431 95533 95533 12462 11431 95534 95534 31770 11380 95535 95535 12311 11450 95536 95536 12461 11450 95537 95537 12408 11448 95538 95538 12567 11448 95539 95539 32038 11082 95540 95540 12368 11328 95541 95541 12520 11328 95542 95542 12602 11451 95543 95543 31836 1563 95544 95544 31855 1631 95545 95545 12434 1562 95546 95546 12410 20981 95547 95547 12409 20981 95548 95548 12568 20981 95549 95549 12577 11008 95550 95550 12418 11008 95551 95551 12423 11383 95552 95552 12523 11034 95553 95553 12371 11034 95554 95554 12369 11035 95555 95555 32096 11360 95556 95556 12516 11360 95557 95557 12394 11453 95558 95558 12414 10971 95559 95559 12411 11334 95560 95560 12570 11334 95561 95561 31986 11400 95562 95562 31819 20976 95563 95563 12358 11374 95564 95564 12588 11223 95565 95565 32065 11343 95566 95566 12428 11343 95567 95567 12524 11454 95568 95568 32019 11371 95569 95569 31826 11455 95570 95570 12415 11192 95571 95571 12414 10971 95572 95572 12573 10971 95573 95573 12386 11424 95574 95574 12622 11424 95575 95575 12620 11186 95576 95576 12399 11458 95577 95577 12398 20978 95578 95578 12553 11438 95579 95579 32004 11223 95580 95580 12601 11351 95581 95581 32097 11351 95582 95582 12574 11192 95583 95583 12565 11413 95584 95584 12406 11413 95585 95585 12572 11383 95586 95586 12413 11383 95587 95587 31876 11440 95588 95588 31810 11345 95589 95589 31807 11354 95590 95590 31974 11354 95591 95591 31814 11423 95592 95592 12353 11460 95593 95593 31980 11460 95594 95594 32072 11461 95595 95595 31906 11461 95596 95596 12436 11451 95597 95597 12421 11462 95598 95598 12580 11462 95599 95599 12571 11447 95600 95600 32048 11446 95601 95601 12416 11008 95602 95602 12413 11383 95603 95603 12328 11427 95604 95604 31955 11427 95605 95605 12490 11425 95606 95606 12530 11384 95607 95607 12524 11454 95608 95608 31827 11456 95609 95609 12603 11429 95610 95610 31911 11429 95611 95611 31910 11335 95612 95612 12616 11449 95613 95613 12450 11449 95614 95614 12449 11409 95615 95615 12419 11463 95616 95616 12417 11464 95617 95617 12576 11464 95618 95618 12521 11035 95619 95619 12369 11035 95620 95620 12387 11110 95621 95621 31992 11433 95622 95622 12365 11433 95623 95623 31824 11434 95624 95624 32019 11371 95625 95625 32003 11343 95626 95626 32095 11343 95627 95627 12353 11460 95628 95628 31812 11437 95629 95629 31979 11437 95630 95630 12577 11008 95631 95631 12576 11464 95632 95632 12417 11464 95633 95633 12453 11442 95634 95634 31928 11405 95635 95635 32091 11407 95636 95636 12580 11462 95637 95637 12421 11462 95638 95638 12420 11037 95639 95639 12314 11465 95640 95640 31773 11393 95641 95641 12463 11393 95642 95642 31988 11350 95643 95643 31821 11350 95644 95644 31906 11461 95645 95645 12315 11332 95646 95646 12314 11465 95647 95647 12464 11465 95648 95648 12583 11383 95649 95649 12423 11383 95650 95650 12422 11435 95651 95651 12469 11396 95652 95652 12319 11396 95653 95653 31778 11366 95654 95654 12377 11368 95655 95655 12384 11457 95656 95656 12620 11186 95657 95657 31956 11428 95658 95658 12329 11428 95659 95659 12330 11417 95660 95660 12459 11379 95661 95661 31972 11348 95662 95662 31805 11348 95663 95663 12306 11445 95664 95664 12456 11445 95665 95665 12457 11444 95666 95666 31809 11415 95667 95667 31820 11399 95668 95668 31987 11401 95669 95669 12627 11466 95670 95670 12630 11474 95671 95671 12626 11467 95672 95672 12628 11469 95673 95673 12627 11466 95674 95674 12623 11468 95675 95675 12625 11471 95676 95676 12629 11472 95677 95677 12628 11469 95678 95678 12626 11467 95679 95679 12630 11474 95680 95680 12629 11472 95681 95681 12631 11473 95682 95682 12634 11478 95683 95683 12630 11474 95684 95684 12632 11475 95685 95685 12631 11473 95686 95686 12627 11466 95687 95687 12629 11472 95688 95688 12633 11476 95689 95689 12632 11475 95690 95690 12630 11474 95691 95691 12634 11478 95692 95692 12633 11476 95693 95693 12635 11477 95694 95694 12638 11482 95695 95695 12634 11478 95696 95696 12636 11479 95697 95697 12635 11477 95698 95698 12631 11473 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21991 109324 109324 36867 21991 109325 109325 36835 21992 109326 109326 36859 21992 109327 109327 36862 21992 109328 109328 18161 21993 109329 109329 18162 21993 109330 109330 36844 21993 109331 109331 18197 15418 109332 109332 18195 15415 109333 109333 18183 15417 109334 109334 18200 15423 109335 109335 18201 15425 109336 109336 18175 15438 109337 109337 36855 184 109338 109338 18155 184 109339 109339 36828 184 109340 109340 18165 8170 109341 109341 18166 3546 109342 109342 36830 3546 109343 109343 18164 3545 109344 109344 18165 8170 109345 109345 18158 8170 109346 109346 36831 7656 109347 109347 18167 7656 109348 109348 18169 3547 109349 109349 36833 7607 109350 109350 36832 3547 109351 109351 18169 3547 109352 109352 36829 184 109353 109353 36852 184 109354 109354 36854 184 109355 109355 18164 3545 109356 109356 18157 3545 109357 109357 36827 7608 109358 109358 36846 184 109359 109359 36845 184 109360 109360 18160 184 109361 109361 18160 184 109362 109362 36845 184 109363 109363 36847 184 109364 109364 36848 21994 109365 109365 36843 21994 109366 109366 36865 21994 109367 109367 36839 21995 109368 109368 18179 21995 109369 109369 18180 21995 109370 109370 36853 184 109371 109371 36852 184 109372 109372 36829 184 109373 109373 36840 184 109374 109374 18162 184 109375 109375 18156 184 109376 109376 18156 21996 109377 109377 18155 21996 109378 109378 18194 21996 109379 109379 18203 15440 109380 109380 18202 15454 109381 109381 18176 15446 109382 109382 36849 15422 109383 109383 18197 15418 109384 109384 18204 15420 109385 109385 18173 15436 109386 109386 18198 15437 109387 109387 18199 15412 109388 109388 18196 15447 109389 109389 18206 15449 109390 109390 36850 15421 109391 109391 36833 7607 109392 109392 18170 7607 109393 109393 18168 3548 109394 109394 18206 15449 109395 109395 18196 15447 109396 109396 18184 15450 109397 109397 18205 15414 109398 109398 18193 15413 109399 109399 18188 15451 109400 109400 18198 15437 109401 109401 18186 15456 109402 109402 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109480 36871 7655 109481 109481 36890 228 109482 109482 36889 228 109483 109483 18212 228 109484 109484 18212 22004 109485 109485 36889 22004 109486 109486 36891 22004 109487 109487 36892 22005 109488 109488 36887 22005 109489 109489 36909 22005 109490 109490 36883 22006 109491 109491 18231 22006 109492 109492 18232 22006 109493 109493 36897 228 109494 109494 36896 228 109495 109495 36873 228 109496 109496 36884 22007 109497 109497 18214 22007 109498 109498 18208 22007 109499 109499 18208 22008 109500 109500 18207 22008 109501 109501 18246 22008 109502 109502 18255 15471 109503 109503 18254 15322 109504 109504 18228 15474 109505 109505 36893 15266 109506 109506 18249 15220 109507 109507 18256 15222 109508 109508 18225 15275 109509 109509 18250 15239 109510 109510 18251 15457 109511 109511 18248 15475 109512 109512 18258 15392 109513 109513 36894 15462 109514 109514 36877 8281 109515 109515 18222 8281 109516 109516 18220 3548 109517 109517 18258 15392 109518 109518 18248 15475 109519 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15492 109558 109558 18293 15478 109559 109559 18267 8384 109560 109560 36915 8384 109561 109561 36914 3548 109562 109562 36925 22010 109563 109563 36939 22010 109564 109564 36957 22010 109565 109565 36924 22011 109566 109566 36948 22011 109567 109567 36946 22011 109568 109568 18275 22012 109569 109569 18276 22012 109570 109570 36955 22012 109571 109571 36923 22013 109572 109572 36947 22013 109573 109573 36950 22013 109574 109574 18265 228 109575 109575 18266 228 109576 109576 36932 228 109577 109577 18301 15317 109578 109578 18299 15217 109579 109579 18287 15219 109580 109580 18304 15363 109581 109581 18305 15227 109582 109582 18279 15276 109583 109583 36943 22014 109584 109584 18259 22014 109585 109585 36916 22014 109586 109586 18270 3546 109587 109587 36918 3546 109588 109588 18262 7656 109589 109589 18268 3547 109590 109590 18269 7656 109591 109591 18262 7656 109592 109592 18271 8170 109593 109593 18273 3545 109594 109594 36920 3545 109595 109595 36921 7813 109596 109596 36920 3545 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184 115208 115208 38926 3548 115209 115209 20606 3548 115210 115210 20607 7607 115211 115211 20691 15553 115212 115212 20679 16761 115213 115213 20685 16640 115214 115214 20687 16596 115215 115215 20698 16638 115216 115216 38997 16745 115217 115217 20689 15557 115218 115218 20677 16690 115219 115219 20684 16599 115220 115220 38990 15559 115221 115221 20698 16638 115222 115222 20687 16596 115223 115223 20692 16747 115224 115224 20680 15579 115225 115225 20681 15424 115226 115226 20655 8281 115227 115227 38967 8281 115228 115228 38966 3548 115229 115229 38977 22505 115230 115230 38991 22505 115231 115231 39009 22505 115232 115232 38976 22506 115233 115233 39000 22506 115234 115234 38998 22506 115235 115235 20663 22507 115236 115236 20664 22507 115237 115237 39007 22507 115238 115238 38975 22508 115239 115239 38999 22508 115240 115240 39002 22508 115241 115241 20653 22509 115242 115242 20654 22509 115243 115243 38984 22509 115244 115244 20689 15557 115245 115245 20687 16596 115246 115246 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115597 39098 3546 115598 115598 39109 22537 115599 115599 39123 22537 115600 115600 39141 22537 115601 115601 39108 22538 115602 115602 39132 22538 115603 115603 39130 22538 115604 115604 20819 22539 115605 115605 20820 22539 115606 115606 39139 22539 115607 115607 39107 22540 115608 115608 39131 22540 115609 115609 39134 22540 115610 115610 20809 22541 115611 115611 20810 22541 115612 115612 39116 22541 115613 115613 20845 16706 115614 115614 20843 16811 115615 115615 20831 16813 115616 115616 20848 16816 115617 115617 20849 16817 115618 115618 20823 16727 115619 115619 39127 22542 115620 115620 20803 22542 115621 115621 39100 22542 115622 115622 20814 3548 115623 115623 39102 3548 115624 115624 20806 7608 115625 115625 20812 3545 115626 115626 20813 7608 115627 115627 20806 7608 115628 115628 20815 7607 115629 115629 20817 3547 115630 115630 39104 3547 115631 115631 39105 7609 115632 115632 39104 3547 115633 115633 20817 3547 115634 115634 39101 228 115635 115635 39124 228 115636 115636 39126 228 115637 115637 20812 3545 115638 115638 20805 3545 115639 115639 39099 7616 115640 115640 39118 22543 115641 115641 39117 22543 115642 115642 20808 22543 115643 115643 20808 22544 115644 115644 39117 22544 115645 115645 39119 22544 115646 115646 39120 22545 115647 115647 39115 22545 115648 115648 39137 22545 115649 115649 39111 22546 115650 115650 20827 22546 115651 115651 20828 22546 115652 115652 39125 228 115653 115653 39124 228 115654 115654 39101 228 115655 115655 39112 228 115656 115656 20810 228 115657 115657 20804 228 115658 115658 20804 22547 115659 115659 20803 22547 115660 115660 20842 22547 115661 115661 20851 16778 115662 115662 20850 16740 115663 115663 20824 16714 115664 115664 39121 16710 115665 115665 20845 16706 115666 115666 20852 16815 115667 115667 20821 16725 115668 115668 20846 16726 115669 115669 20847 16700 115670 115670 20844 16770 115671 115671 20854 16735 115672 115672 39122 16709 115673 115673 39105 7609 115674 115674 20818 7609 115675 115675 20816 3546 115676 115676 20854 16735 115677 115677 20844 16770 115678 115678 20832 16829 115679 115679 20853 16702 115680 115680 20841 16810 115681 115681 20836 16830 115682 115682 20846 16726 115683 115683 20834 16742 115684 115684 20835 16831 115685 115685 20844 16770 115686 115686 20850 16740 115687 115687 20838 16832 115688 115688 20850 16740 115689 115689 20851 16778 115690 115690 20839 16833 115691 115691 20852 16815 115692 115692 20840 16814 115693 115693 20834 16742 115694 115694 20851 16778 115695 115695 20849 16817 115696 115696 20837 16769 115697 115697 20826 22548 115698 115698 20830 22548 115699 115699 39138 22548 115700 115700 39102 3548 115701 115701 20814 3548 115702 115702 20815 7607 115703 115703 20899 15553 115704 115704 20887 16615 115705 115705 20893 16834 115706 115706 20895 16835 115707 115707 20906 15578 115708 115708 39173 15556 115709 115709 20897 15557 115710 115710 20885 16690 115711 115711 20892 16599 115712 115712 39166 16836 115713 115713 20906 15578 115714 115714 20895 16835 115715 115715 20900 15423 115716 115716 20888 15579 115717 115717 20889 16621 115718 115718 20863 8281 115719 115719 39143 8281 115720 115720 39142 3548 115721 115721 39153 22549 115722 115722 39167 22549 115723 115723 39185 22549 115724 115724 39152 22550 115725 115725 39176 22550 115726 115726 39174 22550 115727 115727 20871 22551 115728 115728 20872 22551 115729 115729 39183 22551 115730 115730 39151 22552 115731 115731 39175 22552 115732 115732 39178 22552 115733 115733 20861 184 115734 115734 20862 184 115735 115735 39160 184 115736 115736 20897 15557 115737 115737 20895 16835 115738 115738 20883 15417 115739 115739 20900 15423 115740 115740 20901 16662 115741 115741 20875 15571 115742 115742 39171 184 115743 115743 20855 184 115744 115744 39144 184 115745 115745 20865 10356 115746 115746 20866 3546 115747 115747 39146 3546 115748 115748 20864 3545 115749 115749 20865 10356 115750 115750 20858 10356 115751 115751 20867 8278 115752 115752 20869 3547 115753 115753 39148 3547 115754 115754 39149 7655 115755 115755 39148 3547 115756 115756 20869 3547 115757 115757 39145 184 115758 115758 39168 184 115759 115759 39170 184 115760 115760 20864 3545 115761 115761 20857 3545 115762 115762 39143 8281 115763 115763 39162 22553 115764 115764 39161 22553 115765 115765 20860 22553 115766 115766 20860 184 115767 115767 39161 184 115768 115768 39163 184 115769 115769 39164 22554 115770 115770 39159 22554 115771 115771 39181 22554 115772 115772 39155 22482 115773 115773 20879 22482 115774 115774 20880 22482 115775 115775 39169 22555 115776 115776 39168 22555 115777 115777 39145 22555 115778 115778 39156 184 115779 115779 20862 184 115780 115780 20856 184 115781 115781 20856 22556 115782 115782 20855 22556 115783 115783 20894 22556 115784 115784 20903 15440 115785 115785 20902 15427 115786 115786 20876 15426 115787 115787 39165 15560 115788 115788 20897 15557 115789 115789 20904 15420 115790 115790 20873 15570 115791 115791 20898 15437 115792 115792 20899 15553 115793 115793 20896 15428 115794 115794 20906 15578 115795 115795 39166 16836 115796 115796 20870 7655 115797 115797 20868 3548 115798 115798 39142 3548 115799 115799 20906 15578 115800 115800 20896 15428 115801 115801 20884 15450 115802 115802 20905 16678 115803 115803 20893 16834 115804 115804 20888 15579 115805 115805 20898 15437 115806 115806 20886 16699 115807 115807 20887 16615 115808 115808 20896 15428 115809 115809 20902 15427 115810 115810 20890 15453 115811 115811 20902 15427 115812 115812 20903 15440 115813 115813 20891 15455 115814 115814 20904 15420 115815 115815 20892 16599 115816 115816 20886 16699 115817 115817 20903 15440 115818 115818 20901 16662 115819 115819 20889 16621 115820 115820 20878 22557 115821 115821 20882 22557 115822 115822 39182 22557 115823 115823 20866 3546 115824 115824 20867 8278 115825 115825 39147 8278 115826 115826 20951 16700 115827 115827 20939 16862 115828 115828 20945 16810 115829 115829 20947 16703 115830 115830 20958 16787 115831 115831 39217 16766 115832 115832 20949 16706 115833 115833 20937 16855 115834 115834 20944 16707 115835 115835 39210 16768 115836 115836 20958 16787 115837 115837 20947 16703 115838 115838 20952 16711 115839 115839 20940 16789 115840 115840 20941 16769 115841 115841 20915 10356 115842 115842 39187 10356 115843 115843 39186 3546 115844 115844 39197 22558 115845 115845 39211 22558 115846 115846 39229 22558 115847 115847 39196 22559 115848 115848 39220 22559 115849 115849 39218 22559 115850 115850 20923 22560 115851 115851 20924 22560 115852 115852 39227 22560 115853 115853 39195 22561 115854 115854 39219 22561 115855 115855 39222 22561 115856 115856 20913 22562 115857 115857 20914 22562 115858 115858 39204 22562 115859 115859 20949 16706 115860 115860 20947 16703 115861 115861 20935 16767 115862 115862 20952 16711 115863 115863 20953 16713 115864 115864 20927 16727 115865 115865 39215 228 115866 115866 20907 228 115867 115867 39188 228 115868 115868 20917 8281 115869 115869 20918 3548 115870 115870 39190 3548 115871 115871 20916 3545 115872 115872 20917 8281 115873 115873 20910 7608 115874 115874 20919 7655 115875 115875 20921 3547 115876 115876 39192 3547 115877 115877 39193 8278 115878 115878 39192 3547 115879 115879 20921 3547 115880 115880 39189 22563 115881 115881 39212 22563 115882 115882 39214 22563 115883 115883 20916 3545 115884 115884 20909 3545 115885 115885 39187 10356 115886 115886 39206 22564 115887 115887 39205 22564 115888 115888 20912 22564 115889 115889 20912 228 115890 115890 39205 228 115891 115891 39207 228 115892 115892 39208 22565 115893 115893 39203 22565 115894 115894 39225 22565 115895 115895 39199 22566 115896 115896 20931 22566 115897 115897 20932 22566 115898 115898 39213 22567 115899 115899 39212 22567 115900 115900 39189 22567 115901 115901 39200 228 115902 115902 20914 228 115903 115903 20908 228 115904 115904 20908 22568 115905 115905 20907 22568 115906 115906 20946 22568 115907 115907 20955 16778 115908 115908 20954 16715 115909 115909 20928 16714 115910 115910 39209 16710 115911 115911 20949 16706 115912 115912 20956 16708 115913 115913 20925 16725 115914 115914 20950 16726 115915 115915 20951 16700 115916 115916 20948 16770 115917 115917 20958 16787 115918 115918 39210 16768 115919 115919 39193 8278 115920 115920 20922 8278 115921 115921 20920 3546 115922 115922 20958 16787 115923 115923 20948 16770 115924 115924 20936 16788 115925 115925 20957 16765 115926 115926 20945 16810 115927 115927 20940 16789 115928 115928 20950 16726 115929 115929 20938 16863 115930 115930 20939 16862 115931 115931 20948 16770 115932 115932 20954 16715 115933 115933 20942 16739 115934 115934 20954 16715 115935 115935 20955 16778 115936 115936 20943 16792 115937 115937 20956 16708 115938 115938 20944 16707 115939 115939 20938 16863 115940 115940 20955 16778 115941 115941 20953 16713 115942 115942 20941 16769 115943 115943 20930 22569 115944 115944 20934 22569 115945 115945 39226 22569 115946 115946 39190 3548 115947 115947 20918 3548 115948 115948 20919 7655 115949 115949 21003 16865 115950 115950 20991 16896 115951 115951 20997 16866 115952 115952 20999 16015 115953 115953 21010 16046 115954 115954 39261 16869 115955 115955 21001 16870 115956 115956 20989 16886 115957 115957 20996 16871 115958 115958 39254 16873 115959 115959 21010 16046 115960 115960 20999 16015 115961 115961 21004 16875 115962 115962 20992 16092 115963 115963 20993 16024 115964 115964 20972 3548 115965 115965 20967 7607 115966 115966 39231 7607 115967 115967 39241 22570 115968 115968 39255 22570 115969 115969 39273 22570 115970 115970 39240 22571 115971 115971 39264 22571 115972 115972 39262 22571 115973 115973 20975 22572 115974 115974 20976 22572 115975 115975 39271 22572 115976 115976 39239 22573 115977 115977 39263 22573 115978 115978 39266 22573 115979 115979 20965 22574 115980 115980 20966 22574 115981 115981 39248 22574 115982 115982 21001 16870 115983 115983 20999 16015 115984 115984 20987 16058 115985 115985 21004 16875 115986 115986 21005 16876 115987 115987 20979 16888 115988 115988 39259 228 115989 115989 20959 228 115990 115990 39232 228 115991 115991 20970 3546 115992 115992 39234 3546 115993 115993 20962 15574 115994 115994 20968 3547 115995 115995 20969 15574 115996 115996 20962 15574 115997 115997 20971 8170 115998 115998 20973 3545 115999 115999 39236 3545 116000 116000 39237 7608 116001 116001 39236 3545 116002 116002 20973 3545 116003 116003 39233 22575 116004 116004 39256 22575 116005 116005 39258 22575 116006 116006 20968 3547 116007 116007 20961 3547 116008 116008 39231 7607 116009 116009 39250 228 116010 116010 39249 228 116011 116011 20964 228 116012 116012 20964 228 116013 116013 39249 228 116014 116014 39251 228 116015 116015 39252 22576 116016 116016 39247 22576 116017 116017 39269 22576 116018 116018 39243 22577 116019 116019 20983 22577 116020 116020 20984 22577 116021 116021 39257 22578 116022 116022 39256 22578 116023 116023 39233 22578 116024 116024 39244 22579 116025 116025 20966 22579 116026 116026 20960 22579 116027 116027 20960 22580 116028 116028 20959 22580 116029 116029 20998 22580 116030 116030 21007 16890 116031 116031 21006 16566 116032 116032 20980 16026 116033 116033 39253 16874 116034 116034 21001 16870 116035 116035 21008 16872 116036 116036 20977 16076 116037 116037 21002 16887 116038 116038 21003 16865 116039 116039 21000 16567 116040 116040 21010 16046 116041 116041 39254 16873 116042 116042 39237 7608 116043 116043 20974 7608 116044 116044 20972 3548 116045 116045 21010 16046 116046 116046 21000 16567 116047 116047 20988 16895 116048 116048 21009 16867 116049 116049 20997 16866 116050 116050 20992 16092 116051 116051 21002 16887 116052 116052 20990 16899 116053 116053 20991 16896 116054 116054 21000 16567 116055 116055 21006 16566 116056 116056 20994 16897 116057 116057 21006 16566 116058 116058 21007 16890 116059 116059 20995 16898 116060 116060 21008 16872 116061 116061 20996 16871 116062 116062 20990 16899 116063 116063 21007 16890 116064 116064 21005 16876 116065 116065 20993 16024 116066 116066 20982 22581 116067 116067 20986 22581 116068 116068 39270 22581 116069 116069 39234 3546 116070 116070 20970 3546 116071 116071 20971 8170 116072 116072 21055 16900 116073 116073 21043 16932 116074 116074 21049 16901 116075 116075 21051 16904 116076 116076 21062 16128 116077 116077 39305 16905 116078 116078 21053 16907 116079 116079 21041 16918 116080 116080 21048 16908 116081 116081 39298 15976 116082 116082 21062 16128 116083 116083 21051 16904 116084 116084 21056 16909 116085 116085 21044 16931 116086 116086 21045 16910 116087 116087 21024 3548 116088 116088 21019 7607 116089 116089 39275 7607 116090 116090 39285 22582 116091 116091 39299 22582 116092 116092 39317 22582 116093 116093 39284 22583 116094 116094 39308 22583 116095 116095 39306 22583 116096 116096 21027 22584 116097 116097 21028 22584 116098 116098 39315 22584 116099 116099 39283 22585 116100 116100 39307 22585 116101 116101 39310 22585 116102 116102 21017 22586 116103 116103 21018 22586 116104 116104 39292 22586 116105 116105 21053 16907 116106 116106 21051 16904 116107 116107 21039 16906 116108 116108 21056 16909 116109 116109 21057 16109 116110 116110 21031 16919 116111 116111 39303 22587 116112 116112 21011 22587 116113 116113 39276 22587 116114 116114 21022 3546 116115 116115 39278 3546 116116 116116 21014 7609 116117 116117 21020 3547 116118 116118 21021 7609 116119 116119 21014 7609 116120 116120 21023 10356 116121 116121 21025 3545 116122 116122 39280 3545 116123 116123 39281 8281 116124 116124 39280 3545 116125 116125 21025 3545 116126 116126 39277 22588 116127 116127 39300 22588 116128 116128 39302 22588 116129 116129 21020 3547 116130 116130 21013 3547 116131 116131 39275 7607 116132 116132 39294 22589 116133 116133 39293 22589 116134 116134 21016 22589 116135 116135 21016 22590 116136 116136 39293 22590 116137 116137 39295 22590 116138 116138 39296 22591 116139 116139 39291 22591 116140 116140 39313 22591 116141 116141 39287 22592 116142 116142 21035 22592 116143 116143 21036 22592 116144 116144 39301 22593 116145 116145 39300 22593 116146 116146 39277 22593 116147 116147 39288 228 116148 116148 21018 228 116149 116149 21012 228 116150 116150 21012 22594 116151 116151 21011 22594 116152 116152 21050 22594 116153 116153 21059 15994 116154 116154 21058 16877 116155 116155 21032 16000 116156 116156 39297 15977 116157 116157 21053 16907 116158 116158 21060 15975 116159 116159 21029 15990 116160 116160 21054 16120 116161 116161 21055 16900 116162 116162 21052 16878 116163 116163 21062 16128 116164 116164 39298 15976 116165 116165 39281 8281 116166 116166 21026 8281 116167 116167 21024 3548 116168 116168 21062 16128 116169 116169 21052 16878 116170 116170 21040 16930 116171 116171 21061 16902 116172 116172 21049 16901 116173 116173 21044 16931 116174 116174 21054 16120 116175 116175 21042 16134 116176 116176 21043 16932 116177 116177 21052 16878 116178 116178 21058 16877 116179 116179 21046 16933 116180 116180 21058 16877 116181 116181 21059 15994 116182 116182 21047 16133 116183 116183 21060 15975 116184 116184 21048 16908 116185 116185 21042 16134 116186 116186 21059 15994 116187 116187 21057 16109 116188 116188 21045 16910 116189 116189 21034 22595 116190 116190 21038 22595 116191 116191 39314 22595 116192 116192 39278 3546 116193 116193 21022 3546 116194 116194 21023 10356 116195 116195 21107 15967 116196 116196 21095 16131 116197 116197 21101 16901 116198 116198 21103 16101 116199 116199 21114 16956 116200 116200 39349 15971 116201 116201 21105 16907 116202 116202 21093 16949 116203 116203 21100 16935 116204 116204 39342 16937 116205 116205 21114 16956 116206 116206 21103 16101 116207 116207 21108 16938 116208 116208 21096 16957 116209 116209 21097 15979 116210 116210 21076 3548 116211 116211 21071 7655 116212 116212 39319 7655 116213 116213 39329 22596 116214 116214 39343 22596 116215 116215 39361 22596 116216 116216 39328 22597 116217 116217 39352 22597 116218 116218 39350 22597 116219 116219 21079 22598 116220 116220 21080 22598 116221 116221 39359 22598 116222 116222 39327 22599 116223 116223 39351 22599 116224 116224 39354 22599 116225 116225 21069 228 116226 116226 21070 228 116227 116227 39336 228 116228 116228 21105 16907 116229 116229 21103 16101 116230 116230 21091 16934 116231 116231 21108 16938 116232 116232 21109 16939 116233 116233 21083 16121 116234 116234 39347 22600 116235 116235 21063 22600 116236 116236 39320 22600 116237 116237 21074 3546 116238 116238 39322 3546 116239 116239 21066 8278 116240 116240 21072 3547 116241 116241 21073 8278 116242 116242 21066 8278 116243 116243 21075 8170 116244 116244 21077 3545 116245 116245 39324 3545 116246 116246 39325 7813 116247 116247 39324 3545 116248 116248 21077 3545 116249 116249 39321 22601 116250 116250 39344 22601 116251 116251 39346 22601 116252 116252 21072 3547 116253 116253 21065 3547 116254 116254 39319 7655 116255 116255 39338 22602 116256 116256 39337 22602 116257 116257 21068 22602 116258 116258 21068 228 116259 116259 39337 228 116260 116260 39339 228 116261 116261 39340 22603 116262 116262 39335 22603 116263 116263 39357 22603 116264 116264 39331 22604 116265 116265 21087 22604 116266 116266 21088 22604 116267 116267 39345 22593 116268 116268 39344 22593 116269 116269 39321 22593 116270 116270 39332 228 116271 116271 21070 228 116272 116272 21064 228 116273 116273 21064 22605 116274 116274 21063 22605 116275 116275 21102 22605 116276 116276 21111 16951 116277 116277 21110 16008 116278 116278 21084 16000 116279 116279 39341 15977 116280 116280 21105 16907 116281 116281 21112 16936 116282 116282 21081 15990 116283 116283 21106 16950 116284 116284 21107 15967 116285 116285 21104 16069 116286 116286 21114 16956 116287 116287 39342 16937 116288 116288 39325 7813 116289 116289 21078 7813 116290 116290 21076 3548 116291 116291 21114 16956 116292 116292 21104 16069 116293 116293 21092 16129 116294 116294 21113 16902 116295 116295 21101 16901 116296 116296 21096 16957 116297 116297 21106 16950 116298 116298 21094 16960 116299 116299 21095 16131 116300 116300 21104 16069 116301 116301 21110 16008 116302 116302 21098 16958 116303 116303 21110 16008 116304 116304 21111 16951 116305 116305 21099 16959 116306 116306 21112 16936 116307 116307 21100 16935 116308 116308 21094 16960 116309 116309 21111 16951 116310 116310 21109 16939 116311 116311 21097 15979 116312 116312 21086 184 116313 116313 21090 184 116314 116314 39358 184 116315 116315 39322 3546 116316 116316 21074 3546 116317 116317 21075 8170 116318 116318 21159 16961 116319 116319 21147 16997 116320 116320 21153 16962 116321 116321 21155 16965 116322 116322 21166 16994 116323 116323 39393 16966 116324 116324 21157 16968 116325 116325 21145 16981 116326 116326 21152 16969 116327 116327 39386 16971 116328 116328 21166 16994 116329 116329 21155 16965 116330 116330 21160 16973 116331 116331 21148 16996 116332 116332 21149 16974 116333 116333 21123 3547 116334 116334 39363 3547 116335 116335 39362 8384 116336 116336 39373 22606 116337 116337 39387 22606 116338 116338 39405 22606 116339 116339 39372 22607 116340 116340 39396 22607 116341 116341 39394 22607 116342 116342 21131 22608 116343 116343 21132 22608 116344 116344 39403 22608 116345 116345 39371 22609 116346 116346 39395 22609 116347 116347 39398 22609 116348 116348 21121 228 116349 116349 21122 228 116350 116350 39380 228 116351 116351 21157 16968 116352 116352 21155 16965 116353 116353 21143 16967 116354 116354 21160 16973 116355 116355 21161 16975 116356 116356 21135 16984 116357 116357 39391 22610 116358 116358 21115 22610 116359 116359 39364 22610 116360 116360 21126 7782 116361 116361 39366 10356 116362 116362 21118 3546 116363 116363 21124 7656 116364 116364 21125 3546 116365 116365 21118 3546 116366 116366 39367 3545 116367 116367 21127 22611 116368 116368 21129 7608 116369 116369 39369 3548 116370 116370 39368 7608 116371 116371 21129 7608 116372 116372 39365 22612 116373 116373 39388 22612 116374 116374 39390 22612 116375 116375 21124 7656 116376 116376 21117 7656 116377 116377 39363 3547 116378 116378 39382 228 116379 116379 39381 228 116380 116380 21120 228 116381 116381 21120 22613 116382 116382 39381 22613 116383 116383 39383 22613 116384 116384 39384 22614 116385 116385 39379 22614 116386 116386 39401 22614 116387 116387 39375 22615 116388 116388 21139 22615 116389 116389 21140 22615 116390 116390 39389 228 116391 116391 39388 228 116392 116392 39365 228 116393 116393 39376 228 116394 116394 21122 228 116395 116395 21116 228 116396 116396 21116 22616 116397 116397 21115 22616 116398 116398 21154 22616 116399 116399 21163 16986 116400 116400 21162 16941 116401 116401 21136 16940 116402 116402 39385 16972 116403 116403 21157 16968 116404 116404 21164 16970 116405 116405 21133 16982 116406 116406 21158 16983 116407 116407 21159 16961 116408 116408 21156 16942 116409 116409 21166 16994 116410 116410 39386 16971 116411 116411 21130 16988 116412 116412 21128 8384 116413 116413 39362 8384 116414 116414 21166 16994 116415 116415 21156 16942 116416 116416 21144 16995 116417 116417 21165 16963 116418 116418 21153 16962 116419 116419 21148 16996 116420 116420 21158 16983 116421 116421 21146 17000 116422 116422 21147 16997 116423 116423 21156 16942 116424 116424 21162 16941 116425 116425 21150 16998 116426 116426 21162 16941 116427 116427 21163 16986 116428 116428 21151 16999 116429 116429 21164 16970 116430 116430 21152 16969 116431 116431 21146 17000 116432 116432 21163 16986 116433 116433 21161 16975 116434 116434 21149 16974 116435 116435 21138 22617 116436 116436 21142 22617 116437 116437 39402 22617 116438 116438 21126 7782 116439 116439 21127 22611 116440 116440 39367 3545 116441 116441 21211 16011 116442 116442 21199 17025 116443 116443 21205 16012 116444 116444 21207 17001 116445 116445 21218 17022 116446 116446 39437 17002 116447 116447 21209 16561 116448 116448 21197 17013 116449 116449 21204 16019 116450 116450 39430 17004 116451 116451 21218 17022 116452 116452 21207 17001 116453 116453 21212 17005 116454 116454 21200 17024 116455 116455 21201 17006 116456 116456 21180 3548 116457 116457 21175 7655 116458 116458 39407 7655 116459 116459 39417 22618 116460 116460 39431 22618 116461 116461 39449 22618 116462 116462 39416 22619 116463 116463 39440 22619 116464 116464 39438 22619 116465 116465 21183 22620 116466 116466 21184 22620 116467 116467 39447 22620 116468 116468 39415 22621 116469 116469 39439 22621 116470 116470 39442 22621 116471 116471 21173 228 116472 116472 21174 228 116473 116473 39424 228 116474 116474 21209 16561 116475 116475 21207 17001 116476 116476 21195 17003 116477 116477 21212 17005 116478 116478 21213 16528 116479 116479 21187 17015 116480 116480 39435 22622 116481 116481 21167 22622 116482 116482 39408 22622 116483 116483 21177 7656 116484 116484 21178 3546 116485 116485 39410 3546 116486 116486 21176 3547 116487 116487 21177 7656 116488 116488 21170 7609 116489 116489 21179 8170 116490 116490 21181 3545 116491 116491 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117691 117691 21712 17576 117692 117692 21681 17054 117693 117693 21706 17094 117694 117694 21707 17571 117695 117695 21704 17067 117696 117696 21714 17593 117697 117697 39894 17038 117698 117698 21678 3548 117699 117699 21676 16083 117700 117700 39870 16083 117701 117701 21714 17593 117702 117702 21704 17067 117703 117703 21692 17594 117704 117704 21713 17573 117705 117705 21701 17572 117706 117706 21696 17595 117707 117707 21706 17094 117708 117708 21694 17598 117709 117709 21695 17596 117710 117710 21704 17067 117711 117711 21710 17044 117712 117712 21698 17568 117713 117713 21710 17044 117714 117714 21711 17586 117715 117715 21699 17597 117716 117716 21712 17576 117717 117717 21700 17575 117718 117718 21694 17598 117719 117719 21711 17586 117720 117720 21709 17579 117721 117721 21697 17546 117722 117722 21686 184 117723 117723 21690 184 117724 117724 39910 184 117725 117725 39874 7616 117726 117726 21674 7616 117727 117727 21675 3545 117728 117728 21747 17599 117729 117729 21753 17651 117730 117730 21765 17600 117731 117731 21766 17603 117732 117732 39945 17650 117733 117733 21743 17604 117734 117734 21757 17606 117735 117735 21745 17626 117736 117736 21752 17607 117737 117737 39938 17609 117738 117738 21766 17603 117739 117739 21755 17605 117740 117740 21748 17611 117741 117741 21749 17656 117742 117742 21761 17612 117743 117743 21723 17617 117744 117744 39915 17640 117745 117745 39914 184 117746 117746 39925 22684 117747 117747 39939 22684 117748 117748 39957 22684 117749 117749 39924 22685 117750 117750 39948 22685 117751 117751 39946 22685 117752 117752 21731 22686 117753 117753 21732 22686 117754 117754 39955 22686 117755 117755 39923 22687 117756 117756 39947 22687 117757 117757 39950 22687 117758 117758 21721 22688 117759 117759 21722 22688 117760 117760 39932 22688 117761 117761 21755 17605 117762 117762 21743 17604 117763 117763 21745 17626 117764 117764 21760 17613 117765 117765 21761 17612 117766 117766 21735 17629 117767 117767 39943 22689 117768 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22697 117807 117807 21715 22697 117808 117808 21754 22697 117809 117809 21763 17631 117810 117810 21762 17615 117811 117811 21736 17614 117812 117812 39937 17610 117813 117813 21757 17606 117814 117814 21764 17608 117815 117815 21733 17627 117816 117816 21758 17628 117817 117817 21759 17601 117818 117818 21756 17616 117819 117819 21766 17603 117820 117820 39938 17609 117821 117821 21730 17638 117822 117822 21728 184 117823 117823 39914 184 117824 117824 21756 17616 117825 117825 21744 17653 117826 117826 39945 17650 117827 117827 21753 17651 117828 117828 21748 17611 117829 117829 21760 17613 117830 117830 21758 17628 117831 117831 21746 17655 117832 117832 21747 17599 117833 117833 21756 17616 117834 117834 21762 17615 117835 117835 21750 17652 117836 117836 21762 17615 117837 117837 21763 17631 117838 117838 21751 17654 117839 117839 21764 17608 117840 117840 21752 17607 117841 117841 21746 17655 117842 117842 21763 17631 117843 117843 21761 17612 117844 117844 21749 17656 117845 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117922 21775 17704 117923 117923 39978 22706 117924 117924 39977 22706 117925 117925 21772 22706 117926 117926 21787 17706 117927 117927 39971 17687 117928 117928 21824 17707 117929 117929 21772 22707 117930 117930 39977 22707 117931 117931 39979 22707 117932 117932 21784 22708 117933 117933 39975 22708 117934 117934 39997 22708 117935 117935 21786 22709 117936 117936 21791 22709 117937 117937 21792 22709 117938 117938 39985 22710 117939 117939 39984 22710 117940 117940 39961 22710 117941 117941 39972 22711 117942 117942 21774 22711 117943 117943 21768 22711 117944 117944 21768 22712 117945 117945 21767 22712 117946 117946 21806 22712 117947 117947 39965 17701 117948 117948 21782 17702 117949 117949 21780 184 117950 117950 21820 17673 117951 117951 21826 17690 117952 117952 21814 17719 117953 117953 21828 17692 117954 117954 21816 17667 117955 117955 21810 17721 117956 117956 21823 17686 117957 117957 21811 17658 117958 117958 21817 17660 117959 117959 21826 17690 117960 117960 21827 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117999 21794 22713 118000 118000 39998 22713 118001 118001 21819 17693 118002 118002 21830 17674 118003 118003 21818 17723 118004 118004 21821 17668 118005 118005 21809 17665 118006 118006 21816 17667 118007 118007 39962 228 118008 118008 21778 228 118009 118009 21779 17698 118010 118010 21863 17731 118011 118011 21869 17783 118012 118012 21881 17732 118013 118013 21882 17735 118014 118014 40033 17782 118015 118015 21859 17736 118016 118016 21873 17738 118017 118017 21861 17755 118018 118018 21868 17739 118019 118019 40026 17741 118020 118020 21882 17735 118021 118021 21871 17737 118022 118022 21864 17743 118023 118023 21865 17788 118024 118024 21877 17744 118025 118025 21844 184 118026 118026 21839 17770 118027 118027 40003 17746 118028 118028 40013 22714 118029 118029 40027 22714 118030 118030 40045 22714 118031 118031 40012 22715 118032 118032 40036 22715 118033 118033 40034 22715 118034 118034 21847 22716 118035 118035 21848 22716 118036 118036 40043 22716 118037 118037 40011 22717 118038 118038 40035 22717 118039 118039 40038 22717 118040 118040 21837 22718 118041 118041 21838 22718 118042 118042 40020 22718 118043 118043 21871 17737 118044 118044 21859 17736 118045 118045 21861 17755 118046 118046 21876 17745 118047 118047 21877 17744 118048 118048 21851 17758 118049 118049 40031 22719 118050 118050 21831 22719 118051 118051 40004 22719 118052 118052 21842 228 118053 118053 40006 228 118054 118054 21834 17762 118055 118055 21841 17763 118056 118056 21834 17762 118057 118057 21833 17764 118058 118058 21843 17765 118059 118059 21845 17766 118060 118060 40008 17766 118061 118061 40009 17767 118062 118062 40008 17766 118063 118063 21845 17766 118064 118064 40005 22720 118065 118065 40028 22720 118066 118066 40030 22720 118067 118067 21840 17764 118068 118068 21833 17764 118069 118069 40003 17746 118070 118070 40022 22721 118071 118071 40021 22721 118072 118072 21836 22721 118073 118073 21836 22722 118074 118074 40021 22722 118075 118075 40023 22722 118076 118076 40024 22723 118077 118077 40019 22723 118078 118078 40041 22723 118079 118079 40015 22724 118080 118080 21855 22724 118081 118081 21856 22724 118082 118082 40029 22725 118083 118083 40028 22725 118084 118084 40005 22725 118085 118085 40016 22726 118086 118086 21838 22726 118087 118087 21832 22726 118088 118088 21832 22727 118089 118089 21831 22727 118090 118090 21870 22727 118091 118091 21879 17760 118092 118092 21878 17785 118093 118093 21852 17779 118094 118094 40025 17742 118095 118095 21873 17738 118096 118096 21880 17740 118097 118097 21849 17756 118098 118098 21874 17757 118099 118099 21875 17733 118100 118100 21872 17780 118101 118101 21882 17735 118102 118102 40026 17741 118103 118103 40009 17767 118104 118104 21846 17768 118105 118105 21844 184 118106 118106 21872 17780 118107 118107 21860 17786 118108 118108 40033 17782 118109 118109 21869 17783 118110 118110 21864 17743 118111 118111 21876 17745 118112 118112 21862 17784 118113 118113 21863 17731 118114 118114 21875 17733 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40046 184 118154 118154 21904 22729 118155 118155 21899 22729 118156 118156 40089 22729 118157 118157 40056 22730 118158 118158 40080 22730 118159 118159 40078 22730 118160 118160 40070 22731 118161 118161 40069 22731 118162 118162 40087 22731 118163 118163 40055 22732 118164 118164 40079 22732 118165 118165 40082 22732 118166 118166 21889 22733 118167 118167 21890 22733 118168 118168 40064 22733 118169 118169 21925 17798 118170 118170 21923 17795 118171 118171 21911 17797 118172 118172 40062 17818 118173 118173 21938 17850 118174 118174 21939 17819 118175 118175 40057 17821 118176 118176 21903 17839 118177 118177 21943 17822 118178 118178 40068 17824 118179 118179 21937 17801 118180 118180 21944 17825 118181 118181 40071 17805 118182 118182 21946 17807 118183 118183 21935 17826 118184 118184 40075 22734 118185 118185 21883 22734 118186 118186 40048 22734 118187 118187 21894 228 118188 118188 40050 228 118189 118189 21886 17828 118190 118190 21892 17829 118191 118191 21893 17828 118192 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184 118231 118231 40046 184 118232 118232 21936 17806 118233 118233 21942 17823 118234 118234 21930 17852 118235 118235 21944 17825 118236 118236 21932 17800 118237 118237 21926 17854 118238 118238 21939 17819 118239 118239 21927 17791 118240 118240 21933 17793 118241 118241 21942 17823 118242 118242 21943 17822 118243 118243 21931 17855 118244 118244 21943 17822 118245 118245 21941 17841 118246 118246 21929 17804 118247 118247 21934 17856 118248 118248 21924 17853 118249 118249 21912 17857 118250 118250 21933 17793 118251 118251 21921 17792 118252 118252 21916 17858 118253 118253 21926 17854 118254 118254 21914 17862 118255 118255 21915 17859 118256 118256 21924 17853 118257 118257 21930 17852 118258 118258 21918 17860 118259 118259 21930 17852 118260 118260 21931 17855 118261 118261 21919 17861 118262 118262 21932 17800 118263 118263 21920 17799 118264 118264 21914 17862 118265 118265 21931 17855 118266 118266 21929 17804 118267 118267 21917 17803 118268 118268 21938 17850 118269 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3409 3409 31379 184 3410 3410 31369 1140 3411 3411 31373 1140 3412 3412 31371 1140 3413 3413 31214 1141 3414 3414 11723 1141 3415 3415 31209 1141 3416 3416 31150 1142 3417 3417 31215 1142 3418 3418 11721 1142 3419 3419 11842 184 3420 3420 11939 184 3421 3421 31316 184 3422 3422 31375 1143 3423 3423 31381 184 3424 3424 11843 1144 3425 3425 31316 1145 3426 3426 31297 1145 3427 3427 31299 1145 3428 3428 31299 184 3429 3429 31297 184 3430 3430 31298 184 3431 3431 11842 1146 3432 3432 31316 1146 3433 3433 31299 1146 3434 3434 31216 1147 3435 3435 31120 1147 3436 3436 31215 1147 3437 3437 31289 1148 3438 3438 31375 1143 3439 3439 11843 1144 3440 3440 11921 184 3441 3441 31292 184 3442 3442 11865 184 3443 3443 31293 1149 3444 3444 31376 1150 3445 3445 31294 1151 3446 3446 31223 1152 3447 3447 31113 1152 3448 3448 31218 1152 3449 3449 31377 184 3450 3450 31376 1150 3451 3451 31293 1149 3452 3452 31125 1153 3453 3453 31212 1153 3454 3454 31200 1153 3455 3455 31302 184 3456 3456 11865 184 3457 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1165 3506 3506 31333 1163 3507 3507 31347 1166 3508 3508 31346 1080 3509 3509 31333 1163 3510 3510 11896 1167 3511 3511 31347 1166 3512 3512 31165 1083 3513 3513 31356 1168 3514 3514 31355 1090 3515 3515 11895 1169 3516 3516 31421 1104 3517 3517 31358 1170 3518 3518 31358 1170 3519 3519 31421 1104 3520 3520 11891 1161 3521 3521 11924 1171 3522 3522 31418 1172 3523 3523 11797 1106 3524 3524 11797 1106 3525 3525 31418 1172 3526 3526 31421 1104 3527 3527 11738 1101 3528 3528 31259 1173 3529 3529 31258 1098 3530 3530 11743 1174 3531 3531 31418 1174 3532 3532 11924 1174 3533 3533 31268 1175 3534 3534 31305 1091 3535 3535 11858 1176 3536 3536 31345 1177 3537 3537 31344 228 3538 3538 31256 1112 3539 3539 11794 184 3540 3540 31419 184 3541 3541 11743 184 3542 3542 11754 184 3543 3543 31419 1178 3544 3544 11752 1179 3545 3545 31326 184 3546 3546 31419 184 3547 3547 11754 184 3548 3548 11743 1180 3549 3549 31419 1180 3550 3550 31418 1180 3551 3551 31325 1181 3552 3552 31419 1181 3553 3553 31326 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3602 3602 31277 1196 3603 3603 31279 1196 3604 3604 31278 1196 3605 3605 31270 184 3606 3606 31271 184 3607 3607 31276 184 3608 3608 31276 184 3609 3609 31271 184 3610 3610 31277 184 3611 3611 31286 1197 3612 3612 31270 1197 3613 3613 31276 1197 3614 3614 31395 1198 3615 3615 31394 1198 3616 3616 31286 1198 3617 3617 11840 184 3618 3618 31395 184 3619 3619 31286 184 3620 3620 31117 1199 3621 3621 31231 1199 3622 3622 31226 1199 3623 3623 31396 1200 3624 3624 11752 1179 3625 3625 31419 1178 3626 3626 31406 184 3627 3627 11731 184 3628 3628 11954 184 3629 3629 11972 184 3630 3630 11971 184 3631 3631 31411 184 3632 3632 31406 1201 3633 3633 31186 1201 3634 3634 11731 1201 3635 3635 31406 1202 3636 3636 31184 1202 3637 3637 31186 1202 3638 3638 31411 1203 3639 3639 31413 1203 3640 3640 11977 1203 3641 3641 11971 184 3642 3642 31412 184 3643 3643 31411 184 3644 3644 31413 184 3645 3645 31411 184 3646 3646 31412 184 3647 3647 11976 184 3648 3648 31413 184 3649 3649 31414 184 3650 3650 11977 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4994 4994 32027 1623 4995 4995 12552 1623 4996 4996 32028 1623 4997 4997 12501 1624 4998 4998 31970 1624 4999 4999 31968 1624 5000 5000 31968 1625 5001 5001 31970 1625 5002 5002 31969 1625 5003 5003 12555 1626 5004 5004 32028 1626 5005 5005 12552 1626 5006 5006 32029 1627 5007 5007 32028 1627 5008 5008 12555 1627 5009 5009 12350 1628 5010 5010 31868 1628 5011 5011 31867 1628 5012 5012 32045 1629 5013 5013 31960 1629 5014 5014 12557 1629 5015 5015 32036 184 5016 5016 32066 184 5017 5017 32067 184 5018 5018 31847 1630 5019 5019 32075 1630 5020 5020 31846 1630 5021 5021 31855 1631 5022 5022 32075 1565 5023 5023 31847 184 5024 5024 31839 1632 5025 5025 32076 1633 5026 5026 31835 1564 5027 5027 32075 1565 5028 5028 31835 1564 5029 5029 32076 1633 5030 5030 32090 1634 5031 5031 12527 1635 5032 5032 32089 1573 5033 5033 32076 1633 5034 5034 31844 1636 5035 5035 32001 1637 5036 5036 31839 1632 5037 5037 31845 1638 5038 5038 32076 1633 5039 5039 31845 1639 5040 5040 31844 1639 5041 5041 32076 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31994 1656 5090 5090 31997 1657 5091 5091 31996 1658 5092 5092 12512 1659 5093 5093 12512 1659 5094 5094 32093 1660 5095 5095 12513 1661 5096 5096 31996 1658 5097 5097 32093 1660 5098 5098 12512 1659 5099 5099 32066 184 5100 5100 32036 184 5101 5101 32062 184 5102 5102 32093 1660 5103 5103 32021 1662 5104 5104 12513 1661 5105 5105 12534 1663 5106 5106 12434 1562 5107 5107 31912 1556 5108 5108 32020 1664 5109 5109 12505 1665 5110 5110 32021 1662 5111 5111 32067 1666 5112 5112 32066 1666 5113 5113 32069 1666 5114 5114 32092 1667 5115 5115 12505 1665 5116 5116 32020 1664 5117 5117 12346 1668 5118 5118 31870 228 5119 5119 12310 1669 5120 5120 31937 1561 5121 5121 31973 1560 5122 5122 31936 1649 5123 5123 31936 1649 5124 5124 12494 1650 5125 5125 12495 1670 5126 5126 12347 1671 5127 5127 31867 1671 5128 5128 31866 1671 5129 5129 31954 184 5130 5130 32062 184 5131 5131 31938 184 5132 5132 32063 184 5133 5133 12476 184 5134 5134 12592 184 5135 5135 31947 184 5136 5136 31945 184 5137 5137 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6068 1072 1334 6069 1096 1334 6070 1095 1254 6071

+ + + + + + + + 0 -1 0 0 1 0 0 0 0 0 1 0.004690005 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/clover_description/package.xml b/clover_description/package.xml new file mode 100644 index 00000000..c69a1af7 --- /dev/null +++ b/clover_description/package.xml @@ -0,0 +1,27 @@ + + clover_description + 0.0.1 + The clover_description package provides URDF models of the Clover series of quadcopters. + + Alexey Rogachevskiy + + Alexey Rogachevskiy + Andrey Ryabov + Arthur Golubtsov + Oleg Kalachev + Svyatoslav Zhuravlev + + MIT + + https://github.com/CopterExpress/clover + https://github.com/CopterExpress/clover/issues + + catkin + xacro + gazebo_ros + gazebo_plugins + + + + + diff --git a/clover_description/urdf/camera_sensor.urdf.xacro b/clover_description/urdf/camera_sensor.urdf.xacro new file mode 100644 index 00000000..2a79adc2 --- /dev/null +++ b/clover_description/urdf/camera_sensor.urdf.xacro @@ -0,0 +1,83 @@ + + + + + + + ${horizontal_fov} + + B8G8R8 + ${width} + ${height} + + + 0.02 + 1000 + + + ${k1} + ${k2} + ${k3} + ${p1} + ${p2} +
${(cx - 0.5)/ width} ${(cy - 0.5) / height}
+ + + 1 + ${rate} + 1 + + true + image_raw + camera_info + ${rate} + ${name} + ${frame_name} + ${cx_prime} + ${cx} + ${cy} + ${k1} + ${k2} + ${k3} + ${p1} + ${p2} + + ${min_rate} + ${window_size} + ${max_st_dev} + + + + + + + + + + + + + + + + diff --git a/clover_description/urdf/clover/clover4.xacro b/clover_description/urdf/clover/clover4.xacro new file mode 100644 index 00000000..0c902650 --- /dev/null +++ b/clover_description/urdf/clover/clover4.xacro @@ -0,0 +1,46 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/clover_description/urdf/clover/clover4_base.xacro b/clover_description/urdf/clover/clover4_base.xacro new file mode 100644 index 00000000..6239008f --- /dev/null +++ b/clover_description/urdf/clover/clover4_base.xacro @@ -0,0 +1,183 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/clover_description/urdf/clover/clover4_macros.xacro b/clover_description/urdf/clover/clover4_macros.xacro new file mode 100644 index 00000000..80c0901e --- /dev/null +++ b/clover_description/urdf/clover/clover4_macros.xacro @@ -0,0 +1,235 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ${robot_namespace} + base_link + ${rotor_velocity_slowdown_sim} + + + + + true + true + + + + Polycarbonate + + + 10000.0 + 10.0 + 10.0 + 0.001 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ${robot_namespace} + rotor_${motor_number}_joint + rotor_${motor_number} + ${direction} + ${time_constant_up} + ${time_constant_down} + ${max_rot_velocity} + ${motor_constant} + ${moment_constant} + /gazebo/command/motor_speed + ${motor_number} + ${rotor_drag_coefficient} + ${rolling_moment_coefficient} + /motor_speed/${motor_number} + ${rotor_velocity_slowdown_sim} + + + + + + diff --git a/clover_description/urdf/clover/clover4_physics.xacro b/clover_description/urdf/clover/clover4_physics.xacro new file mode 100644 index 00000000..f157976e --- /dev/null +++ b/clover_description/urdf/clover/clover4_physics.xacro @@ -0,0 +1,178 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/clover_description/urdf/component_snippets.urdf.xacro b/clover_description/urdf/component_snippets.urdf.xacro new file mode 100644 index 00000000..bb6b6659 --- /dev/null +++ b/clover_description/urdf/component_snippets.urdf.xacro @@ -0,0 +1,613 @@ + + + + + + + + + ${namespace} + ${bag_file} + base_link + base_link + command/attitude + command/attitude + ${rotor_velocity_slowdown_sim} + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ${frame_rate} + + ${horizontal_fov} + + ${image_width} + ${image_height} + ${image_format} + + + ${min_distance} + ${max_distance} + + + gaussian + + ${noise_mean} + ${noise_stddev} + + + + ${namespace} + true + ${frame_rate} + camera_${camera_suffix} + image_raw + camera_info + camera_${camera_suffix}_link + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + + + + + + + + + ${namespace} + /command/attitude + /command/rate + /command/motor_speed + /${imu_sub_topic} + /gazebo/command/motor_speed + + + + + + + + + ${namespace} + ${gps_noise} + + + + + + + + + ${namespace} + ${pub_rate} + ${noise_density} + ${random_walk} + ${bias_correlation_time} + ${mag_topic} + + + + + + + + + ${namespace} + ${pub_rate} + ${baro_topic} + + + + + + + + + ${namespace} + ${imu_sub_topic} + ${gps_sub_topic} + ${mag_sub_topic} + ${baro_sub_topic} + $(arg mavlink_addr) + $(arg mavlink_udp_port) + $(arg mavlink_tcp_port) + $(arg serial_enabled) + $(arg serial_device) + $(arg baudrate) + $(arg qgc_addr) + $(arg qgc_udp_port) + $(arg sdk_addr) + $(arg sdk_udp_port) + $(arg hil_mode) + $(arg hil_state_level) + $(arg vehicle_is_tailsitter) + $(arg send_vision_estimation) + $(arg send_odometry) + $(arg enable_lockstep) + $(arg use_tcp) + /gazebo/command/motor_speed + + + 0 + 0 + 1000 + 0 + 100 + velocity + + + 1 + 0 + 1000 + 0 + 100 + velocity + + + 2 + 0 + 1000 + 0 + 100 + velocity + + + 3 + 0 + 1000 + 0 + 100 + velocity + + + 4 + 1 + 324.6 + 0 + 0 + velocity + +

0.1

+ 0 + 0 + 0.0 + 0.0 + 2 + -2 + + zephyr_delta_wing::propeller_joint + + + 5 + 0 + + 0.524 + 0 + 0 + position + zephyr_delta_wing::flap_left_joint + +

10.0

+ 0 + 0 + 0 + 0 + 20 + -20 + + + + 6 + 0 + + 0.524 + 0 + 0 + position + zephyr_delta_wing::flap_right_joint + +

10.0

+ 0 + 0 + 0 + 0 + 20 + -20 + + + + 7 + 0 + 0.524 + 0 + 0 + position + + + + + + + + + + + + + + + + + + + + + + + + + + + true + true + + + + + ${namespace} + ${namespace}/imu${imu_suffix}_link + ${imu_topic} + ${gyroscope_noise_density} + ${gyroscopoe_random_walk} + ${gyroscope_bias_correlation_time} + ${gyroscope_turn_on_bias_sigma} + ${accelerometer_noise_density} + ${accelerometer_random_walk} + ${accelerometer_bias_correlation_time} + ${accelerometer_turn_on_bias_sigma} + + + + + + + + + + + + + + + + + + + + + + + ${namespace}/odometry_sensor${odometry_sensor_suffix}_link + ${namespace} + ${pose_topic} + ${pose_with_covariance_topic} + ${position_topic} + ${transform_topic} + ${odometry_topic} + ${parent_frame_id} + ${measurement_divisor} + ${measurement_delay} + ${unknown_delay} + ${noise_normal_position} + ${noise_normal_quaternion} + ${noise_normal_linear_velocity} + ${noise_normal_angular_velocity} + ${noise_uniform_position} + ${noise_uniform_quaternion} + ${noise_uniform_linear_velocity} + ${noise_uniform_angular_velocity} + + package://rotors_gazebo/resource/${odometry_map} + ${image_scale} + + + + + + + + + + base_link + base_link + ${namespace} + ${xyz_offset} + ${wind_direction} + ${wind_force_mean} + ${wind_gust_direction} + ${wind_gust_duration} + ${wind_gust_start} + ${wind_gust_force_mean} + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + ${frame_rate} + + 2 + + L8 + 640 + 480 + + + 0.01 + 100 + + + + ${namespace} + true + 0.11 + ${frame_rate} + camera_${camera_suffix} + camera/image_raw + camera/camera_info + depth/disparity + depth/camera_info + depth/points + camera_${camera_suffix}_optical_center_link + 0.5 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/clover_description/urdf/leds/led_strip.xacro b/clover_description/urdf/leds/led_strip.xacro new file mode 100644 index 00000000..6734cb68 --- /dev/null +++ b/clover_description/urdf/leds/led_strip.xacro @@ -0,0 +1,69 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ${led_count} + + false + + 0 0 0 1 + 0 0 0 1 + 0 0 0 1 + 0 0 0 1 + + + + + + true + true + + + + + diff --git a/clover_description/urdf/sensors/distance_sensor.urdf.xacro b/clover_description/urdf/sensors/distance_sensor.urdf.xacro new file mode 100644 index 00000000..cce5558e --- /dev/null +++ b/clover_description/urdf/sensors/distance_sensor.urdf.xacro @@ -0,0 +1,73 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + true + + + + + 0 0 0 0 0 0 + + + + 1 + 1 + -0 + 0 + + + + 0.03 + ${range_max} + ${resolution} + + + + + /rangefinder/range + rangefinder + infrared + 0.01 + 0.001 + ${rate} + ${range_min} + ${range_max} + + 1 + ${rate} + true + + + + diff --git a/clover_description/urdf/sensors/pinhole_camera.urdf.xacro b/clover_description/urdf/sensors/pinhole_camera.urdf.xacro new file mode 100644 index 00000000..c90f0ad7 --- /dev/null +++ b/clover_description/urdf/sensors/pinhole_camera.urdf.xacro @@ -0,0 +1,5 @@ + + + + + diff --git a/clover_description/urdf/sensors/rpi_cam.urdf.xacro b/clover_description/urdf/sensors/rpi_cam.urdf.xacro new file mode 100644 index 00000000..bc2a4099 --- /dev/null +++ b/clover_description/urdf/sensors/rpi_cam.urdf.xacro @@ -0,0 +1,60 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + true + + + + + + diff --git a/clover_simulation/CMakeLists.txt b/clover_simulation/CMakeLists.txt new file mode 100644 index 00000000..7ee6b14e --- /dev/null +++ b/clover_simulation/CMakeLists.txt @@ -0,0 +1,60 @@ +cmake_minimum_required(VERSION 3.0) +project(clover_simulation) + +find_package(catkin REQUIRED) + +# Gazebo LED strip node + +find_package(gazebo) + +# Gazebo does not seem to export GAZEBO_FOUND, so here's a matching hack +if (NOT "${GAZEBO_CONFIG_INCLUDED}") + message(STATUS "Gazebo not found, skipping") + return() +endif() + +find_package(catkin REQUIRED COMPONENTS + roscpp + led_msgs + gazebo_ros + gazebo_plugins + rospy +) + +catkin_python_setup() + +catkin_package( + CATKIN_DEPENDS led_msgs gazebo_ros gazebo_plugins +) + +# Gazebo LED plugin + +add_library(sim_leds src/sim_leds.cpp) + +target_include_directories(sim_leds PRIVATE ${catkin_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS}) +target_link_libraries(sim_leds PRIVATE ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES}) +target_compile_options(sim_leds PRIVATE -std=c++11) + +add_dependencies(sim_leds ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +# Gazebo throttling camera plugin +# for some reason, CMake does not support per-target link directories, and Gazebo does not put +# CameraPlugin into ${GAZEBO_LIBRARIES} + +link_directories(${GAZEBO_LIBRARY_DIRS}) + +add_library(throttling_camera src/throttling_camera.cpp) + +target_include_directories(throttling_camera PRIVATE ${catkin_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS}) +target_link_libraries(throttling_camera PRIVATE ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES} CameraPlugin) +target_compile_options(throttling_camera PRIVATE -std=c++11) + +add_dependencies(throttling_camera ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) +install(DIRECTORY meshes DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) +install(DIRECTORY resources DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +catkin_install_python(PROGRAMS scripts/aruco_gen + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) diff --git a/clover_simulation/README.md b/clover_simulation/README.md new file mode 100644 index 00000000..873e0b76 --- /dev/null +++ b/clover_simulation/README.md @@ -0,0 +1,82 @@ +# `clover_simulation` ROS package + +This package provides resources necessary for launching Gazebo simulation with Clover, along with `.launch` files for convenience. + +## Launching the simulation + +Simulation is launched by [`simulator.launch` file](launch/simulator.launch). This `.launch` file assumes that `px4` and `sitl_gazebo` packages are reachable from your current workspace. + +The simulation may be configured by a set of arguments: + +* `mav_id` (*integer*, default: *0*) - MAVLink identifier of the vehicle. **Note**: Multi-vehicle simulation is possible, but requires extensive changes to launch files; +* `est` (*string*, default: *lpe*, possible values: *lpe*, *ekf2*) - PX4 estimator selection. Note that this may be overriden in the startup scripts for your craft; +* `vehicle` (*string*, default: *clover*) - PX4 vehicle name. Depending on this parameter, different PX4 presets will be loaded. **Note**: The default value, *clover*, requires you to use [Clover-specific PX4 branch](https://github.com/CopterExpress/Firmware/tree/v1.10.1-clever); +* `main_camera` (*boolean*, default: *true*) - controls whether the drone will have a vision position estimation camera; +* `rangefinder` (*boolean*, default: *true*) - controls whether the drone will have a laser rangefinder; +* `led` (*boolean*, default: *true*) - controls whether the drone will have a programmable LED strip; +* `gps` (*boolean*, default: *true*) - controls whether the drone will have a simulated GPS module; + +In order to start the simulation, run: + +```bash +roslaunch clover_simulation simulator.launch +``` + +This will start a new Gazebo instance (using `gazebo_ros` package), load a PX4 SITL instance, spawn a Clover model and start Clover ROS nodes. The PX4 console will be accessible in the terminal where `roslaunch` was performed. + +### Changing simulation speed (PX4 1.9+) + +In order to run simulation faster or slower than realtime, use the `PX4_SIM_SPEED_FACTOR` environment variable, [as stated in the PX4 docs](https://dev.px4.io/v1.9.0/en/simulation/#simulation_speed). + +If `PX4_SIM_SPEED_FACTOR` is not set, it is assumed that it is equal to 1.0. + +Note that Gazebo may slow the simulation down automatically. This may not be handled gracefully, so if you notice Gazebo's "Real Time Factor" being significantly lower than your `PX4_SIM_SPEED_FACTOR`, be sure to adjust it accordingly. + +### Changing initial world + +By default, the `simulator.launch` file will start the simulation with [`resources/worlds/clover.world`](resources/worlds/clover.world) as its base world. Note that the `real_time_update_rate` is set to 250 - this is required for PX4 lockstep simulation to work correctly. + +If you wish to create your own world for the simulation, be sure to derive it from `clover.world` to avoid issues with PX4 plugins. + +You may set the world name in `simulator.launch` as the `world_name` parameter for `gazebo_ros` instance. + +### Configuring the vehicle + +`simulator.launch` utilizes the same `clover.launch` file from the `clover` ROS package, so ROS node reconfiguration is the same as on the real drone. + +PX4 may be reconfigured using QGroundControl, just like a real drone. Some parameters may require rebooting the drone, which is performed by shutting the simulated environment down and restarting it. + +PX4 will write its parameters and logs to `${ROS_HOME}/eeprom/parameters` and `${ROS_HOME}/log`, respectively. Note that the log directory naming schema for PX4 logs is different from ROS: PX4 creates log directories based on the current date, which makes them relatively simple to find. + +## LED plugin (sim_leds) + +A visual Gazebo plugin is used for the LED strip. An example of the plugin usage is provided in [`led_strip.xacro`](../clover_description/urdf/leds/led_strip.xacro). + +The plugin accepts the following parameters during instantiation: + +* `robotNamespace` (*string*, default: "") - a ROS namespace for the plugin; +* `ledCount` (*integer*, required) - total numer of LEDs in a strip. + +The plugin will provide the following service: + +`led/set_leds` ([*led_msgs/SetLEDs*](https://github.com/CopterExpress/ros_led/blob/v0.0.6/led_msgs/srv/SetLEDs.srv)) - set the LED colors to the provided values. + +The plugin will provide the following topics: + +`led/state` ([*led_msgs/LEDStateArray*](https://github.com/CopterExpress/ros_led/blob/v0.0.6/led_msgs/msg/LEDStateArray.msg)) - current LED strip state. + +Other nodes are not expected to write to `led/state` topic. + +All provided topics and services will be namespaced according to the `robotNamespace` parameter. + +## Throttling camera plugin (throttling_camera) + +By default, Gazebo camera sensors will use their `update_rate` parameter as an upper bound for the actual rate. This may result in much lower rates than expected. This may be fine for object recognition tasks where the camera is not the primary positioning sensor, but is not desirable in our case, when the camera is used for position calculation. + +We provide a Gazebo-ROS plugin for the camera sensor that will throttle down the simulation to maintain update rate. The plugin API is based on the `gazebo_ros_camera` plugin, and respects the following parameters in SDF: + +* `` (*double*, default: same as ``) - least allowed publish/update rate for the camera (in Hz); +* `` (*integer*, default: 10) - number of last update intervals that are considered for throttling; +* `` (*double*, default: 0.02) - maximum standard deviation value for update intervals. + +The simulation will be slowed down if the average update rate (averaged over `` samples) is lower than `` and is consistent (standard deviation over `` samples is less than ``). diff --git a/clover_simulation/launch/simulator.launch b/clover_simulation/launch/simulator.launch new file mode 100644 index 00000000..d70f5f6c --- /dev/null +++ b/clover_simulation/launch/simulator.launch @@ -0,0 +1,41 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/clover_simulation/launch/simulator_1.8.2.launch b/clover_simulation/launch/simulator_1.8.2.launch new file mode 100644 index 00000000..31854ec6 --- /dev/null +++ b/clover_simulation/launch/simulator_1.8.2.launch @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/clover_simulation/models/CATKIN_IGNORE b/clover_simulation/models/CATKIN_IGNORE new file mode 100644 index 00000000..e69de29b diff --git a/clover_simulation/models/loop_line/loop_line.sdf b/clover_simulation/models/loop_line/loop_line.sdf new file mode 100644 index 00000000..1cbdde80 --- /dev/null +++ b/clover_simulation/models/loop_line/loop_line.sdf @@ -0,0 +1,24 @@ + + + + true + + 0 0 1e-3 0 0 0 + + false + + + 8.0 3.2 1e-3 + + + + + + + + + diff --git a/clover_simulation/models/loop_line/materials/scripts/loop.material b/clover_simulation/models/loop_line/materials/scripts/loop.material new file mode 100644 index 00000000..3160100e --- /dev/null +++ b/clover_simulation/models/loop_line/materials/scripts/loop.material @@ -0,0 +1,33 @@ +material loop_dashed +{ + technique + { + pass + { + scene_blend alpha_blend + texture_unit + { + texture loop_dashed.png + filtering none + scale 1.0 1.0 + } + } + } +} + +material loop_solid +{ + technique + { + pass + { + scene_blend alpha_blend + texture_unit + { + texture loop_solid.png + filtering none + scale 1.0 1.0 + } + } + } +} diff --git a/clover_simulation/models/loop_line/materials/textures/loop_dashed.png b/clover_simulation/models/loop_line/materials/textures/loop_dashed.png new file mode 100644 index 00000000..4ba9539f Binary files /dev/null and b/clover_simulation/models/loop_line/materials/textures/loop_dashed.png differ diff --git a/clover_simulation/models/loop_line/materials/textures/loop_solid.png b/clover_simulation/models/loop_line/materials/textures/loop_solid.png new file mode 100644 index 00000000..1b9261cc Binary files /dev/null and b/clover_simulation/models/loop_line/materials/textures/loop_solid.png differ diff --git a/clover_simulation/models/loop_line/model.config b/clover_simulation/models/loop_line/model.config new file mode 100644 index 00000000..90bed04b --- /dev/null +++ b/clover_simulation/models/loop_line/model.config @@ -0,0 +1,13 @@ + + + Loop Line + 1.0 + loop_line.sdf + + Oleg Kalachev + okalachev@gmail.com + + + Black loop line on the floor for recognizing by a drone + + diff --git a/clover_simulation/models/parquet_plane/materials/scripts/parquet.material b/clover_simulation/models/parquet_plane/materials/scripts/parquet.material new file mode 100644 index 00000000..dc64eb33 --- /dev/null +++ b/clover_simulation/models/parquet_plane/materials/scripts/parquet.material @@ -0,0 +1,20 @@ +material parquet +{ + technique + { + pass + { + ambient 0.5 0.5 0.5 1.0 + diffuse 0.5 0.5 0.5 1.0 + specular 0.2 0.2 0.2 1.0 12.5 + + texture_unit + { + texture parquet.jpg + filtering anistropic + max_anisotropy 16 + scale 0.01 0.01 + } + } + } +} diff --git a/clover_simulation/models/parquet_plane/materials/textures/parquet.jpg b/clover_simulation/models/parquet_plane/materials/textures/parquet.jpg new file mode 100644 index 00000000..32393348 Binary files /dev/null and b/clover_simulation/models/parquet_plane/materials/textures/parquet.jpg differ diff --git a/clover_simulation/models/parquet_plane/model.config b/clover_simulation/models/parquet_plane/model.config new file mode 100644 index 00000000..993233fb --- /dev/null +++ b/clover_simulation/models/parquet_plane/model.config @@ -0,0 +1,17 @@ + + + + Parquet Plane + 1.0 + model.sdf + + + Oleg Kalachev + okalachev@gmail.com + + + + A parquet textured plane. + + + diff --git a/clover_simulation/models/parquet_plane/model.sdf b/clover_simulation/models/parquet_plane/model.sdf new file mode 100644 index 00000000..94ab08b4 --- /dev/null +++ b/clover_simulation/models/parquet_plane/model.sdf @@ -0,0 +1,30 @@ + + + + true + + + + + 200 200 .02 + + + + + false + + + 200 200 .02 + + + + + + + + + diff --git a/clover_simulation/models/square_line/materials/scripts/square.material b/clover_simulation/models/square_line/materials/scripts/square.material new file mode 100644 index 00000000..2e79996d --- /dev/null +++ b/clover_simulation/models/square_line/materials/scripts/square.material @@ -0,0 +1,33 @@ +material square_dashed +{ + technique + { + pass + { + scene_blend alpha_blend + texture_unit + { + texture square_dashed.png + filtering none + scale 1.0 1.0 + } + } + } +} + +material square_solid +{ + technique + { + pass + { + scene_blend alpha_blend + texture_unit + { + texture square_solid.png + filtering none + scale 1.0 1.0 + } + } + } +} diff --git a/clover_simulation/models/square_line/materials/textures/square_dashed.png b/clover_simulation/models/square_line/materials/textures/square_dashed.png new file mode 100644 index 00000000..a9f8db70 Binary files /dev/null and b/clover_simulation/models/square_line/materials/textures/square_dashed.png differ diff --git a/clover_simulation/models/square_line/materials/textures/square_solid.png b/clover_simulation/models/square_line/materials/textures/square_solid.png new file mode 100644 index 00000000..14579176 Binary files /dev/null and b/clover_simulation/models/square_line/materials/textures/square_solid.png differ diff --git a/clover_simulation/models/square_line/model.config b/clover_simulation/models/square_line/model.config new file mode 100644 index 00000000..8c1363a9 --- /dev/null +++ b/clover_simulation/models/square_line/model.config @@ -0,0 +1,13 @@ + + + Square Line + 1.0 + square_line.sdf + + Oleg Kalachev + okalachev@gmail.com + + + Black square line on the floor for recognizing by a drone + + diff --git a/clover_simulation/models/square_line/square_line.sdf b/clover_simulation/models/square_line/square_line.sdf new file mode 100644 index 00000000..be333e12 --- /dev/null +++ b/clover_simulation/models/square_line/square_line.sdf @@ -0,0 +1,24 @@ + + + + true + + 0 0 1e-3 0 0 0 + + false + + + 4.0 4.0 1e-3 + + + + + + + + + diff --git a/clover_simulation/package.xml b/clover_simulation/package.xml new file mode 100644 index 00000000..04b5e789 --- /dev/null +++ b/clover_simulation/package.xml @@ -0,0 +1,31 @@ + + clover_simulation + 0.0.1 + The clover_simulation package provides worlds and launch files for Gazebo. + + Oleg Kalachev + + Alexey Rogachevskiy + Andrey Ryabov + Arthur Golubtsov + Oleg Kalachev + Svyatoslav Zhuravlev + + MIT + + https://github.com/CopterExpress/clover + https://github.com/CopterExpress/clover/issues + + catkin + led_msgs + xacro + gazebo_ros + gazebo_plugins + rospy + + + + + + + diff --git a/clover_simulation/resources/worlds/clover.world b/clover_simulation/resources/worlds/clover.world new file mode 100644 index 00000000..5d8da26a --- /dev/null +++ b/clover_simulation/resources/worlds/clover.world @@ -0,0 +1,42 @@ + + + + + + model://sun + + + model://parquet_plane + + + + 0.8 0.8 0.8 1 + 0.8 0.9 1 1 + false + false + false + + + + 0 0 -9.8066 + + + quick + 10 + 1.3 + 0 + + + 0 + 0.2 + 100 + 0.001 + + + 0.004 + 1 + 250 + 6.0e-6 2.3e-5 -4.2e-5 + + + diff --git a/clover_simulation/scripts/aruco_gen b/clover_simulation/scripts/aruco_gen new file mode 100755 index 00000000..0bc11690 --- /dev/null +++ b/clover_simulation/scripts/aruco_gen @@ -0,0 +1,6 @@ +#! /usr/bin/env python + +from clover_simulation import aruco_gen + +if __name__ == "__main__": + aruco_gen() diff --git a/clover_simulation/setup.py b/clover_simulation/setup.py new file mode 100644 index 00000000..9ea934c1 --- /dev/null +++ b/clover_simulation/setup.py @@ -0,0 +1,11 @@ +## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD + +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +setup_args = generate_distutils_setup( + packages=['clover_simulation'], + package_dir={'': 'src'} +) + +setup(**setup_args) diff --git a/clover_simulation/src/clover_simulation/__init__.py b/clover_simulation/src/clover_simulation/__init__.py new file mode 100644 index 00000000..30ed091d --- /dev/null +++ b/clover_simulation/src/clover_simulation/__init__.py @@ -0,0 +1,93 @@ +from docopt import docopt +from os import path +from sys import stdout + +from .map_parser import parse +from .marker import Marker, generate_markers + +from .world import load_world, add_model, save_world + + +USAGE = ''' + +aruco_gen - Script for ArUco map/model generation. + Generates ArUco models from their description and optionally + adds them to an existing Gazebo world. + +Usage: + aruco_gen [--offset-x=] [--offset-y=] [--offset-z=] + [--offset-roll=] [--offset-pitch=] [--offset-yaw=] + [--dictionary=] [--single-model] + [--source-world=] [--inplace] + [--model-path=] + + aruco_gen -h | --help + +Options: + -h, --help Show this screen. + --offset-x= X offset in meters [default: 0]. + --offset-y= Y offset in meters [default: 0]. + --offset-z= Z offset in meters [default: 0]. + --offset-roll= roll offset in radians [default: 0]. + --offset-pitch= pitch offset in radians [default: 0]. + --offset-yaw= yaw offset in radians [default: 0]. + --dictionary= ArUco dictionary ID [default: 2]. + --single-model Generate a single model instead of individual + markers. + --source-world= Path to existing Gazebo world. + --inplace Modify source world. + --model-path= Folder where generated models will be saved + [default: ~/.gazebo/models] + aruco_map_file Full path to the ArUco map file + +''' + + +def aruco_gen(): + opts = docopt(USAGE) + + dictionary_id = int(opts['--dictionary']) + mapfile = opts[''] + single_model = opts['--single-model'] + source_world = opts['--source-world'] + inplace = opts['--inplace'] + + off_x = float(opts['--offset-x']) + off_y = float(opts['--offset-y']) + off_z = float(opts['--offset-z']) + off_roll = float(opts['--offset-roll']) + off_pitch = float(opts['--offset-pitch']) + off_yaw = float(opts['--offset-yaw']) + + model_base_path = path.expanduser(opts['--model-path']) + + markers = parse(mapfile) + + if single_model: + mapname = path.split(mapfile)[-1] + model_path = path.join(model_base_path, 'aruco_{}'.format(mapname.replace('.', '_'))) + generate_markers(markers, model_path, dictionary_id=dictionary_id, map_source=mapname) + else: + for marker in markers: + model_name = 'aruco_{}_{}'.format(dictionary_id, marker.id_) + model_path = path.join(model_base_path, model_name) + generate_markers([Marker(marker.id_, marker.size, 0, 0, 0, 0, 0, 0)], + model_path, dictionary_id=dictionary_id) + + if source_world is not None: + world_tree = load_world(source_world) + if single_model: + world_tree = add_model(world_tree, 'aruco_{}'.format(mapname.replace('.', '_')), + off_x, off_y, off_z, + off_roll, off_pitch, off_yaw) + else: + if (abs(off_roll) > 0.001) or (abs(off_pitch) > 0.001) or (abs(off_yaw) > 0.001): + raise NotImplementedError('Sorry, angular offsets are not currently implemented for multimodel generation') + for marker in markers: + world_tree = add_model(world_tree, 'aruco_{}_{}'.format(dictionary_id, marker.id_), + off_x + marker.x, off_y + marker.y, off_z + marker.z, + marker.roll, marker.pitch, marker.yaw) + + output = open(source_world, 'w') if inplace else stdout + + save_world(world_tree, output) diff --git a/clover_simulation/src/clover_simulation/map_parser.py b/clover_simulation/src/clover_simulation/map_parser.py new file mode 100644 index 00000000..130fdbc1 --- /dev/null +++ b/clover_simulation/src/clover_simulation/map_parser.py @@ -0,0 +1,45 @@ +# ArUco map parser (should be kept in sync with aruco_pose) + +from .marker import Marker + + +def _parse_line(line): + ''' + Parse a line of map data, returning a Marker object if + parsing succeeded, or None if it failed. + ''' + if line.startswith('#'): + return None + elems = line.split() + if len(elems) < 4: + return None + try: + id_ = int(elems[0]) + size = float(elems[1]) + x = float(elems[2]) + y = float(elems[3]) + z = float(elems[4]) if len(elems) > 4 else 0 + yaw = float(elems[5]) if len(elems) > 5 else 0 + pitch = float(elems[6]) if len(elems) > 6 else 0 + roll = float(elems[7]) if len(elems) > 7 else 0 + except: + print('Warning - marformed line: {}'.format(line, sys.exc_info()[0])) + return None + return Marker(id_, size, x, y, z, roll, pitch, yaw) + + +def parse(map_path): + ''' + Parse a map at a given path. + + map_path: Path to the ArUco map file. + + Returns a list of Marker objects. + ''' + markers = [] + with open(map_path, 'r') as map_contents: + for line in map_contents.readlines(): + parser_result = _parse_line(line) + if parser_result is not None: + markers.append(parser_result) + return markers diff --git a/clover_simulation/src/clover_simulation/marker.py b/clover_simulation/src/clover_simulation/marker.py new file mode 100644 index 00000000..85713076 --- /dev/null +++ b/clover_simulation/src/clover_simulation/marker.py @@ -0,0 +1,163 @@ +# Marker object definition and creation + +from __future__ import print_function + +from collections import namedtuple +from string import Template +from os import makedirs, path + +import cv2 +import numpy as np +import math + +Marker = namedtuple('Marker', + ['id_', 'size', 'x', 'y', 'z', 'roll', 'pitch', 'yaw']) + + +MARKER_MODEL_CFG_TEMPLATE = Template(''' + + + ${model_name} + 1.0 + ${sdf_name} + + Marker Generator script + marker@generator.sh + + + ${model_name} + + +''') + + +MARKER_VISUAL_TEMPLATE = Template(''' + + ${x} ${y} ${z} ${roll} ${pitch} ${yaw} + false + + + ${marker_full_size} ${marker_full_size} 1e-3 + + + + + + +''') + + +MARKER_MODEL_SDF_TEMPLATE = Template(''' + + + + true + + ${model_visuals} + + + +''') + + +MARKER_MATERIAL_TEMPLATE = Template(''' +material aruco/marker_${marker_id} +{ + technique + { + pass + { + texture_unit + { + texture aruco_marker_${marker_id}.png + filtering none + scale 1.0 1.0 + } + } + } +} +''') + + +def model_name(model_directory): + ''' + Extract model name from model directory. + + model_directory: Full path to the model. + + Returns Gazebo-compatible model name (available through model:// URI schema) + ''' + return path.split(model_directory)[1] + + +def generate_markers(markers, model_directory, dictionary_id=2, map_source=''): + ''' + Generate markers from a list. Result is a single Gazebo + model with all markers inside it. + + markers: A List-like object containing Marker objects. + model_directory: Target directory for the model. + dictionary_id: Predefined ArUco dictionary ID, as defined by OpenCV. + map_source: An optional string with the name of the ArUco map file. + ''' + script_directory = path.join(model_directory, 'materials', 'scripts') + texture_directory = path.join(model_directory, 'materials', 'textures') + + try: + if not path.exists(script_directory): + makedirs(script_directory) + if not path.exists(texture_directory): + makedirs(texture_directory) + except: + print('Could not create material/texture directories!') + + aruco_dict = cv2.aruco.getPredefinedDictionary(dictionary_id) + marker_bits = aruco_dict.markerSize + marker_outer_bits = marker_bits + 2 # "black border" bits + marker_border_bits = marker_bits + 4 # "white border" bits + materials = [] + visuals = [] + + for marker in markers: + texture_name = 'aruco_marker_{}_{}.png'.format(dictionary_id, marker.id_) + + marker_image = np.zeros((marker_border_bits, marker_border_bits), dtype=np.uint8) + marker_image[:,:] = 255 + marker_image[1:marker_border_bits - 1, 1:marker_border_bits - 1] = cv2.aruco.drawMarker( + aruco_dict, marker.id_, marker_outer_bits) + cv2.imwrite(path.join(texture_directory, texture_name), marker_image) + materials.append(MARKER_MATERIAL_TEMPLATE.substitute( + marker_id='{}_{}'.format(dictionary_id, marker.id_) + )) + visuals.append(MARKER_VISUAL_TEMPLATE.substitute( + marker_id='{}_{}'.format(dictionary_id, marker.id_), + x=marker.x, + y=marker.y, + z=marker.z, + roll=marker.roll, + pitch=marker.pitch, + yaw=marker.yaw + (math.pi / 2), + model_directory=model_name(model_directory), + marker_full_size=marker.size * marker_border_bits / marker_outer_bits + )) + + with open(path.join(script_directory, 'aruco_materials.material'), 'w') as f: + f.write(''.join(materials)) + + with open(path.join(model_directory, 'aruco_model.sdf'), 'w') as f: + f.write(MARKER_MODEL_SDF_TEMPLATE.substitute( + model_name='aruco_{}_{}'.format(dictionary_id, len(markers)), + model_visuals=''.join(visuals) + )) + + with open(path.join(model_directory, 'model.config'), 'w') as f: + f.write(MARKER_MODEL_CFG_TEMPLATE.substitute( + model_name='ArUco {} (dictionary {})'.format( + markers[0].id_ if len(markers) == 1 else 'field from ' + map_source, + dictionary_id), + sdf_name='aruco_model.sdf' + )) diff --git a/clover_simulation/src/clover_simulation/world.py b/clover_simulation/src/clover_simulation/world.py new file mode 100644 index 00000000..322a6d9e --- /dev/null +++ b/clover_simulation/src/clover_simulation/world.py @@ -0,0 +1,43 @@ +# Gazebo world changer + +import xml.etree.ElementTree as ET + +from string import Template + +WORLD_INCLUDE = Template(''' + + model://${model_name} + ${x} ${y} ${z} ${roll} ${pitch} ${yaw} + +''') + +def load_world(world_file): + ''' + Load Gazebo world as an ElementTree object + ''' + return ET.parse(world_file) + + +def add_model(world, model_name, x, y, z, roll, pitch, yaw, index=0): + ''' + Create and add an element to the world + ''' + world_elem = world.find('world') + model_elem = ET.fromstring(WORLD_INCLUDE.substitute( + model_name=model_name, + x=x, + y=y, + z=z, + roll=roll, + pitch=pitch, + yaw=yaw + )) + world_elem.insert(index, model_elem) + return world + + +def save_world(world, file): + ''' + Save the world to file-like object + ''' + return world.write(file) diff --git a/clover_simulation/src/sim_leds.cpp b/clover_simulation/src/sim_leds.cpp new file mode 100644 index 00000000..4dfa7123 --- /dev/null +++ b/clover_simulation/src/sim_leds.cpp @@ -0,0 +1,232 @@ +#include +#include + +#include +#include +#include +#include + +#if GAZEBO_MAJOR_VERSION >= 9 +#include +using GazeboColor = ignition::math::Color; +#else +#include +using GazeboColor = gazebo::common::Color; +#endif + +#include +#include +#include +#include + +#include + +namespace sim_led +{ +// Forward declaration of the plugin for led controller +class LedVisualPlugin; +} // + +namespace led_controller +{ + +/// LedController: a class that provides ROS interface for the LEDs. +class LedController +{ +private: + /// Role for the current controller + enum class Role + { + Client, // Client: runs on /gazebo_gui, responsible for "preview window" + Server // Server: runs on /gazebo, responsible for renders on Gazebo sensors + } role; + + // Pointers to the LED plugins that we know about + std::vector registeredLeds; + // Mutex protecting the vector + std::mutex registryMutex; + std::string robotNamespace; + + std::unique_ptr nh; + + ros::ServiceServer setLedsSrv; + // Note: LED state should only be published by the /gazebo node + led_msgs::LEDStateArray ledState; + ros::Publisher statePublisher; + // LED state will be read from the topic to avoid creating more services + ros::Subscriber stateSubscriber; + + bool setLeds(led_msgs::SetLEDs::Request& req, led_msgs::SetLEDs::Response& resp); + void handleLedsMsg(const led_msgs::LEDStateArrayConstPtr& leds); + +public: + LedController(const std::string& robotNamespace) : robotNamespace(robotNamespace) + { + // We need "libgazebo_ros_api.so" to be loaded + if (!ros::isInitialized()) + { + ROS_FATAL_NAMED("LedController", "Tried to load ROS plugin when ROS Gazebo API is not loaded. Please use gazebo_ros node to" + "launch Gazebo."); + } + + role = (ros::this_node::getName() == "/gazebo") ? Role::Server : Role::Client; + ROS_INFO_NAMED(("LedController_" + robotNamespace).c_str(), "LedController has started (as %s)", role == Role::Client ? "client" : "server"); + + nh.reset(new ros::NodeHandle(robotNamespace)); + if (role == Role::Server) + { + setLedsSrv = nh->advertiseService("led/set_leds", &LedController::setLeds, this); + statePublisher = nh->advertise("led/state", 1, true); + } + else + { + // LED state should be published to the "led/state" topic, so we grab our data there + stateSubscriber = nh->subscribe("led/state", 1, &LedController::handleLedsMsg, this); + } + }; + + ~LedController() + { + nh->shutdown(); + } + + void registerPlugin(sim_led::LedVisualPlugin* plugin, int ledIdx = 0, int totalLeds = 0) + { + assert(ledIdx < totalLeds); + std::lock_guard lock(registryMutex); + if (totalLeds > 0) { + registeredLeds.resize(totalLeds); + ledState.leds.resize(totalLeds); + } + ROS_DEBUG_NAMED(("LedController_" + robotNamespace).c_str(), "Registering LED visual plugin to %s (LED id=%d)", (role == Role::Client) ? "client" : "server", ledIdx); + registeredLeds[ledIdx] = plugin; + ledState.leds[ledIdx].index = ledIdx; + if (role == Role::Server) + statePublisher.publish(ledState); + } + + void unregisterPlugin(sim_led::LedVisualPlugin* plugin) + { + std::lock_guard lock(registryMutex); + auto it = std::find(registeredLeds.begin(), registeredLeds.end(), plugin); + if (it != registeredLeds.end()) + { + ROS_DEBUG_STREAM_NAMED(("LedController_" + robotNamespace).c_str(), "Unregistering LED visual plugin (LED id=" << (it - registeredLeds.begin()) << ")"); + *it = nullptr; + } + } +}; + +// Guards controllers map (static to led_controller::get()) +std::mutex controllerMutex; + +LedController& get(std::string robotNamespace) +{ + static std::unordered_map> controllers; + std::lock_guard lock(controllerMutex); + auto it = controllers.find(robotNamespace); + if (it == controllers.end()) { + gzwarn << "Creating new LED controller for namespace " << robotNamespace << "\n"; + controllers[robotNamespace].reset(new LedController(robotNamespace)); + return *controllers[robotNamespace]; + } + return *(it->second); +} + +} // led_controller + + +namespace sim_led +{ + +class LedVisualPlugin : public gazebo::VisualPlugin { +private: + std::string ns; + gazebo::rendering::VisualPtr vptr; + +public: + void Load(gazebo::rendering::VisualPtr visual, sdf::ElementPtr sdf) override { + // FIXME: This is a fragile way to guess our index + // FIXME: This is based on an assumption that the parent will have a mangled name + // FIXME: (like led_strip::base_link::base_link_fixed_joint_lump__led_00_link_visual_1) + // FIXME: This will obviously break if gazebo decides to go with something else + auto parentName = sdf->GetParent()->GetAttribute("name")->GetAsString(); + auto lastDashPos = parentName.rfind('_'); + int myIndex = 0; + if (lastDashPos != std::string::npos) + { + auto indexStr = parentName.substr(lastDashPos + 1); + try { + myIndex = std::stoi(indexStr); + } catch(const std::exception &e) { + gzwarn << "Failed to convert " << indexStr << " to integer: " << e.what() << ", assuming 0\n"; + myIndex = 0; + } + } + else + { + gzerr << "Failed to parse parent name: " << parentName << "; could not determine our index\n"; + } + + ns = ""; + if (sdf->HasElement("robotNamespace")) { + ns = sdf->Get("robotNamespace"); + } + if (!sdf->HasElement("ledCount")) { + gzerr << "ledCount is not set, but is required for the plugin to function correctly\n"; + return; + } + int totalLeds = sdf->Get("ledCount"); + + vptr = visual; + led_controller::get(ns).registerPlugin(this, myIndex, totalLeds); + } + + ~LedVisualPlugin() + { + led_controller::get(ns).unregisterPlugin(this); + } + + void SetColor(const GazeboColor& emissive) + { + vptr->SetEmissive(emissive); + } + +}; +} + +// FIXME: These two functions basically do the same thing, maybe they can be merged? +bool led_controller::LedController::setLeds(led_msgs::SetLEDs::Request &req, led_msgs::SetLEDs::Response &resp) +{ + std::lock_guard lock(registryMutex); + for(const auto& led : req.leds) + { + if (led.index < registeredLeds.size()) { + auto color = GazeboColor(led.r / 255.0f, led.g / 255.0f, led.b / 255.0f); + auto ledPlugin = registeredLeds[led.index]; + if (ledPlugin) ledPlugin->SetColor(color); + ledState.leds[led.index].r = led.r; + ledState.leds[led.index].g = led.g; + ledState.leds[led.index].b = led.b; + } + } + statePublisher.publish(ledState); + resp.success = true; + return true; +} + +void led_controller::LedController::handleLedsMsg(const led_msgs::LEDStateArrayConstPtr& leds) +{ + std::lock_guard lock(registryMutex); + for(const auto& led : leds->leds) + { + if (led.index < registeredLeds.size()) + { + auto color = GazeboColor(led.r / 255.0f, led.g / 255.0f, led.b / 255.0f); + auto ledPlugin = registeredLeds[led.index]; + if (ledPlugin) ledPlugin->SetColor(color); + } + } +} + +GZ_REGISTER_VISUAL_PLUGIN(sim_led::LedVisualPlugin); diff --git a/clover_simulation/src/throttling_camera.cpp b/clover_simulation/src/throttling_camera.cpp new file mode 100644 index 00000000..b3b15180 --- /dev/null +++ b/clover_simulation/src/throttling_camera.cpp @@ -0,0 +1,275 @@ +#include +// physics definitions and functions: Required to perform slowdown +#include +// ROS simulated camera class with most of the boilerplate already in place +#include +#include +#include + +#include +#include + +namespace +{ +/** + * Simple statistics-collecting class. + */ +class AverageStat +{ +private: + /** Currently collected samples. */ + std::deque samples; + /** Number of samples to store (also, the number of samples considered "adequate") */ + size_t maxSamples; + /** Currently stored average value */ + double average = 0; + /** Currently stored standard deviation value */ + double stdev = 0; + /** Largest standard deviation that is considered adequate */ + double maxStDev; + +public: + AverageStat(size_t numSamples, double validStDev) : + samples(), + maxSamples(numSamples), + maxStDev(validStDev) + {} + + /** + * Add a sample and recalculate average and standard deviation. + * + * @param sample New sampled value. + * @return New average value. + */ + double update(double sample) + { + samples.push_back(sample); + if (samples.size() > maxSamples) + { + samples.pop_front(); + } + average = std::accumulate(samples.begin(), samples.end(), 0.0) / samples.size(); + double stdevSquared = std::accumulate(samples.begin(), samples.end(), 0.0, + [&](double sum, double xi) { + return sum + (xi - average) * (xi - average); + }) / samples.size(); + stdev = std::sqrt(stdevSquared); + return average; + } + + /** + * Get current average value of all samples. + * + * @note This function will return a result even if it is not considered valid. + */ + double getAverage() const + { + return average; + } + + /** + * Get current standard deviation of all samples. + * + * @note This function will return a result even if it is not considered valid. + */ + double getStDev() const + { + return stdev; + } + + /** + * Check if the average value is considered "adequate". + * + * @return True if the number of samples is not less than required and standard deviation is within limits, false otherwise + */ + bool isAdequate() const + { + return (samples.size() >= maxSamples) && (stdev < maxStDev); + } + + /** + * Drop all samples and start anew. + * + * @note This does not actually change average and stdev, but the stats are considered inadequate after this call. + */ + void reset() + { + samples.clear(); + } +}; + +} + +namespace throttling_camera +{ + +/** + * Gazebo camera plugin for a world-throttling (rate-preserving) camera. + * + * This plugin will slow the simulation down to maintain average publishing rate. Note that + * this plugin will *only* perform slowdown, it *will not* speed the simulation back up! + */ +class ThrottlingCamera : public gazebo::CameraPlugin, gazebo::GazeboRosCameraUtils +{ +private: + /** A pointer to the Gazebo camera sensor. */ + gazebo::sensors::SensorPtr camPtr; + /** A pointer to the current simulated world (required to change world parameters) */ + gazebo::physics::WorldPtr world; + /** A pointer to the physics preset manager. Used to actually slow the simulation down. */ + gazebo::physics::PresetManagerPtr presetManager; + + /** Maximum update interval that is considered "okay". Should be higher than the "average" update interval to avoid extreme slowdowns */ + double maxUpdateInterval; + + /** Statistics for publishing time intervals. */ + std::unique_ptr timeSamples; +public: + ThrottlingCamera() = default; + ~ThrottlingCamera() override = default; + + /** + * Plugin load function. Called by Gazebo each time the plugin is instantiated. + * + * @param parent Gazebo sensor that this plugin connects to. + * @param sdf SDF element containing this plugin. + */ + void Load(gazebo::sensors::SensorPtr parent, sdf::ElementPtr sdf) override + { + if (!ros::isInitialized()) + { + ROS_FATAL_NAMED("throttling_camera", "ROS node for Gazebo has not been initialized, unable to load plugin"); + return; + } + ROS_DEBUG_NAMED("throttling_camera", "Initializing ROS throttling (stable-rate) camera"); + + CameraPlugin::Load(parent, sdf); + + world = gazebo::physics::get_world(parent->WorldName()); +#if GAZEBO_MAJOR_VERSION >= 8 + presetManager = world->PresetMgr(); +#else + presetManager = world->GetPresetManager(); +#endif /* GAZEBO_MAJOR_VERSION */ + + // Same as in PX4 + if (presetManager->CurrentProfile() != "default_physics") + { + gzwarn << "Current physics profile is not default_physics, but actually is " << presetManager->CurrentProfile() << "\n"; + if (!presetManager->CurrentProfile("default_physics")) + { + gzerr << "Could not set current profile to default_physics!\n"; + } + } + + double minUpdateRate = parent->UpdateRate(); + if (sdf->HasElement("minUpdateRate")) + { + minUpdateRate = sdf->Get("minUpdateRate"); + } + maxUpdateInterval = 1.0 / minUpdateRate; + + size_t windowSize = 10; + if (sdf->HasElement("windowSize")) + { + windowSize = sdf->Get("windowSize"); + } + + double maxStDev = 0.02; + if (sdf->HasElement("maxStDev")) + { + maxStDev = sdf->Get("maxStDev"); + } + + timeSamples.reset(new AverageStat(windowSize, maxStDev)); + + camPtr = parent; + + parentSensor_ = camPtr; + width_ = width; + height_ = height; + depth_ = depth; + format_ = format; + camera_ = camera; + + gazebo::GazeboRosCameraUtils::Load(parent, sdf); + } + + /** + * Frame callback. Called every time a new frame is rendered by the camera. + * + * Checks whether we should slow simulation down and publishes a new image + * message. + * + * @param image Image data. + * @param width Image width, in pixels. + * @param height Image height, in pixels. + * @param depth Image depth, in bytes. + * @param format Image format description string. + */ + void OnNewFrame(const unsigned char *image, unsigned int width, unsigned int height, unsigned int depth, + const std::string &format) override { + + // Note: sensorUpdateTime uses simulated time + auto sensorUpdateTime = camPtr->LastMeasurementTime(); + // If sensor was not active for some reason, we allow it to get new data on next frame + if (!camPtr->IsActive()) + { + camPtr->SetActive(true); + last_update_time_ = sensorUpdateTime; + timeSamples->reset(); + return; + } + + boost::mutex::scoped_lock lock(*image_connect_count_lock_); + if (*image_connect_count_ > 0) + { + if (sensorUpdateTime < last_update_time_) + { + ROS_WARN_NAMED("throttling_camera", "Negative sensor update time difference (world reset?)"); + last_update_time_ = sensorUpdateTime; + timeSamples->reset(); + } + + auto timeDelta = sensorUpdateTime - last_update_time_; + timeSamples->update(timeDelta.Double()); + + // We want to throttle the simulation down if we have measurements too far apart + if (timeSamples->isAdequate() && timeSamples->getAverage() > maxUpdateInterval) + { + ROS_INFO_STREAM_NAMED("throttling_camera", "Had average update period of " + << timeSamples->getAverage() << " (stdev: " << timeSamples->getStDev() << ")" + << ", but desired update period is " << update_period_ + << ", throttling simulation down"); + boost::any currentRealTimeUpadteRateParam; + if (!presetManager->GetCurrentProfileParam("real_time_update_rate", currentRealTimeUpadteRateParam)) + { + gzerr << "Failed to get real time update rate parameter!\n"; + } + auto currentRate = boost::any_cast(currentRealTimeUpadteRateParam); + // We are being somewhat aggressive here, maybe we could throttle the world + // down in steps? + double slowdownFactor = update_period_ / timeSamples->getAverage(); + auto nextRate = currentRate * slowdownFactor; + if (!presetManager->SetCurrentProfileParam("real_time_update_rate", nextRate)) + { + gzerr << "Failed to set real time update rate parameter!\n"; + } + if (slowdownFactor < 0.5) + { + ROS_WARN_STREAM_NAMED("throttling_camera", "Simulation slowed down significantly; consider running" + "the simulation with a lower PX4_SIM_SPEED_FACTOR value (slowed down from " + << currentRate << " to " << nextRate << " updates per second)"); + } + // We're discarding old samples to avoid extensive slowdown + timeSamples->reset(); + } + PutCameraData(image, sensorUpdateTime); + PublishCameraInfo(sensorUpdateTime); + } + last_update_time_ = sensorUpdateTime; + } +}; +} + +GZ_REGISTER_SENSOR_PLUGIN(throttling_camera::ThrottlingCamera); diff --git a/docs/assets/simulation_setup_vm/01_import_vm.png b/docs/assets/simulation_setup_vm/01_import_vm.png new file mode 100644 index 00000000..299149c2 Binary files /dev/null and b/docs/assets/simulation_setup_vm/01_import_vm.png differ diff --git a/docs/assets/simulation_setup_vm/02_import_failure.png b/docs/assets/simulation_setup_vm/02_import_failure.png new file mode 100644 index 00000000..6e036cd7 Binary files /dev/null and b/docs/assets/simulation_setup_vm/02_import_failure.png differ diff --git a/docs/assets/simulation_setup_vm/03_max_memory.png b/docs/assets/simulation_setup_vm/03_max_memory.png new file mode 100644 index 00000000..19943344 Binary files /dev/null and b/docs/assets/simulation_setup_vm/03_max_memory.png differ diff --git a/docs/assets/simulation_setup_vm/04_core_count.png b/docs/assets/simulation_setup_vm/04_core_count.png new file mode 100644 index 00000000..e8837c42 Binary files /dev/null and b/docs/assets/simulation_setup_vm/04_core_count.png differ diff --git a/docs/assets/simulation_setup_vm/05_3d_acceleration.png b/docs/assets/simulation_setup_vm/05_3d_acceleration.png new file mode 100644 index 00000000..ee35c8aa Binary files /dev/null and b/docs/assets/simulation_setup_vm/05_3d_acceleration.png differ diff --git a/docs/assets/simulation_setup_vm/06_usb_3_0.png b/docs/assets/simulation_setup_vm/06_usb_3_0.png new file mode 100644 index 00000000..daf8d201 Binary files /dev/null and b/docs/assets/simulation_setup_vm/06_usb_3_0.png differ diff --git a/docs/assets/simulation_setup_vm/07_bridge_networking.png b/docs/assets/simulation_setup_vm/07_bridge_networking.png new file mode 100644 index 00000000..c7cf339d Binary files /dev/null and b/docs/assets/simulation_setup_vm/07_bridge_networking.png differ diff --git a/docs/assets/simulation_setup_vm/08_no_3d_acceleration.png b/docs/assets/simulation_setup_vm/08_no_3d_acceleration.png new file mode 100644 index 00000000..28353668 Binary files /dev/null and b/docs/assets/simulation_setup_vm/08_no_3d_acceleration.png differ diff --git a/docs/assets/simulation_setup_vm/09_netcfg.png b/docs/assets/simulation_setup_vm/09_netcfg.png new file mode 100644 index 00000000..cd37dcbb Binary files /dev/null and b/docs/assets/simulation_setup_vm/09_netcfg.png differ diff --git a/docs/assets/simulation_usage/01_running_gazebo.jpg b/docs/assets/simulation_usage/01_running_gazebo.jpg new file mode 100644 index 00000000..1b3d528f Binary files /dev/null and b/docs/assets/simulation_usage/01_running_gazebo.jpg differ diff --git a/docs/assets/simulation_usage/02_gazebo_qgc.jpg b/docs/assets/simulation_usage/02_gazebo_qgc.jpg new file mode 100644 index 00000000..7ce8bdb1 Binary files /dev/null and b/docs/assets/simulation_usage/02_gazebo_qgc.jpg differ diff --git a/docs/assets/simulation_usage/03_gazebo_rqt.jpg b/docs/assets/simulation_usage/03_gazebo_rqt.jpg new file mode 100644 index 00000000..b4c06670 Binary files /dev/null and b/docs/assets/simulation_usage/03_gazebo_rqt.jpg differ diff --git a/docs/assets/simulation_usage/04_vscode_config.jpg b/docs/assets/simulation_usage/04_vscode_config.jpg new file mode 100644 index 00000000..8ba14044 Binary files /dev/null and b/docs/assets/simulation_usage/04_vscode_config.jpg differ diff --git a/docs/en/SUMMARY.md b/docs/en/SUMMARY.md index c72dc7ab..a8e42c03 100644 --- a/docs/en/SUMMARY.md +++ b/docs/en/SUMMARY.md @@ -47,6 +47,11 @@ * [Using JavaScript](javascript.md) * [ROS](ros.md) * [MAVROS](mavros.md) + * Simulation + * [Overview](simulation.md) + * [Native setup](simulation_native.md) + * [VM setup](simulation_vm.md) + * [Usage](simulation_usage.md) * Supplementary materials * [COEX Pix](coex_pix.md) * [Guide on autonomous flight](auto_setup.md) diff --git a/docs/en/simulation.md b/docs/en/simulation.md new file mode 100644 index 00000000..05cbf1e6 --- /dev/null +++ b/docs/en/simulation.md @@ -0,0 +1,32 @@ +# Simulation overview + +The Clover simulation environment allows users to run and debug their code within a simulator while using most of the features available on the real drone. The simulation utilizes [PX4 SITL mode](sitl.md) and uses the same ROS code as the real drone. Most hardware is simulated as well. + +## Features + +Basic, user-installable environment includes: + +* high-quality Clover 4 visual model; +* Gazebo plugins for Clover-specific hardware (e.g. LED strip); +* modification-friendly [`xacro`](https://wiki.ros.org/xacro) drone descriptions; +* sample models and worlds; +* [`roslaunch`](https://wiki.ros.org/roslaunch) files for quick simulation launching and configuration. + +Additionally, a [virtual machine image](simulation_setup_vm.md) that mimics the real drone as closely as possible is provided with the following features: + +* easy access to the simulation environment; +* Visual Studio Code editor, preconfigured to work with ROS packages; +* Monkey web server for web-based Clover plugins; +* always-running `roscore` service; +* ROS GUI tools (`rviz`, `rqt`). + +## Architecture + +The simulation environment is based on the following components: + +* [Gazebo](http://gazebosim.org/), a state-of-the-art robotics simulator; +* [PX4](https://px4.io/), specifically its SITL (software-in-the-loop) components; +* [`sitl_gazebo`](https://github.com/PX4/sitl_gazebo) package containing Gazebo plugins for PX4; +* ROS packages and Gazebo plugins. + + diff --git a/docs/en/simulation_native.md b/docs/en/simulation_native.md new file mode 100644 index 00000000..650587af --- /dev/null +++ b/docs/en/simulation_native.md @@ -0,0 +1,84 @@ +# Native setup + +Setting up the simulation environment from scratch requires some effort, but results in the most performant setup, with less chance of driver issues. + +Prerequisites: Ubuntu 18.04, [native ROS installation](ros-install.md). + +## Create a workspace for the simulation + +Throughout this guide we will be using the `catkin_ws` as the workspace name. Feel free to change it in your setup. We will be creating it in the home directory of the current user (`~`). + +Create the workspace and clone Clover sources: + +```bash +mkdir -p ~/catkin_ws/src +cd ~/catkin_ws/src +git clone https://github.com/CopterExpress/clover -b clover_description +git clone https://github.com/CopterExpress/ros_led +``` + +Install all prerequisites using `rosdep`: + +```bash +cd ~/catkin_ws +rosdep update +rosdep install --from-paths src --ignore-src -y +``` + +## Get PX4 sources + +PX4 will be built along with the other packages in our workspace. You may clone it directly into the workspace or put it somewhere and symlink to `~/catkin_ws/src`. We will need to put its `sitl_gazebo` submodule in `~/catkin_ws/src` as well. For simplicity's sake we will clone the firmware directly to the workspace: + +```bash +cd ~/catkin_ws/src +git clone --recursive https://github.com/CopterExpress/Firmware -b v1.10.1-clever +ln -s Firmware/Tools/sitl_gazebo ./sitl_gazebo +``` + +## Install PX4 prerequisites + +PX4 comes with its own script for dependency installation. We may as well leverage it: + +```bash +cd ~/catkin_ws/src/Firmware/Tools/setup +sudo ./ubuntu.sh +``` + +This will install everything required to build PX4 and its SITL environment. + +You may want to skip installing the ARM toolchain if you're not planning on compiling PX4 for your flight controller. To do this, use the `--no-nuttx` flag: + +``` +sudo ./ubuntu.sh --no-nuttx +``` + +## Install geographiclib datasets + +`mavros` requires geographiclib datasets to be present: + +```bash +cd ~ +wget https://raw.githubusercontent.com/mavlink/mavros/6f5bd5a1a67c19c2e605f33de296b1b1be9d02fc/mavros/scripts/install_geographiclib_datasets.sh +sudo ./install_geographiclib_datasets.sh +rm ./install_geographiclib_datasets.sh +``` + +## Build the simulator + +With all dependencies installed, you can build your workspace: + +```bash +cd ~/catkin_ws +catkin_make +``` + +> **Note** Some of the files - particularly Gazebo plugins - require large amounts of RAM to be built. You may wish to reduce the number of parallel jobs; the number of parallel jobs should be equal to the amount of RAM in gigabytes divided by 2 - so a 16GB machine should use no more than 8 jobs. You can specify the number of jobs using the `-j` flag: `catkin_make -j8` + +## Run the simulator + +In order to be sure that everything was built correctly, try running the simulator for the first time: + +```bash +source ~/catkin_ws/devel/setup.bash +roslaunch clover_simulation simulator.launch +``` diff --git a/docs/en/simulation_usage.md b/docs/en/simulation_usage.md new file mode 100644 index 00000000..cd2f389d --- /dev/null +++ b/docs/en/simulation_usage.md @@ -0,0 +1,49 @@ +# Using the simulator + +The Clover simulation environment allows the user to test their code without any risk of equipment damage. Additionally, the [virtual machine](simulation_setup_vm.md)-based environment has additional (non-ROS) services that are present on a real drone, like Monkey web server. + +## Running the simulation + +After [setting up the simulation packages](simulation_setup_native.md) or [importing and running the VM](simulation_setup_vm.md), you can use `roslaunch` to start Gazebo simulation: + +```bash +# Be sure to activate your workspace first +source ~/catkin_ws/devel/setup.bash +roslaunch clover_simulation simulator.launch +``` + +> **Note** Alternatively, if you are using the VM, just double-click on the `Gazebo PX4` icon on the desktop. + +This will launch Gazebo server and client, the PX4 SITL binary and Clover nodes. The terminal in which the command was run will display diagnostic messages from the nodes and PX4, and will accept input for the PX4 command interpreter: + +![Gazebo simulation screenshot](../assets/simulation_usage/01_running_gazebo.jpg) + +You can use QGroundControl to configure the simulated drone parameters, plan missions (if GPS is simulated) and control the drone using a joystick: + +![Gazebo and QGC](../assets/simulation_usage/02_gazebo_qgc.jpg) + +You can also use [our simplified OFFBOARD control](simple_offboard.md) to control the drone, and traditional ROS GUI utilities like [rviz and rqt](rviz.md) to analyze the drone state: + +![Gazebo and RQT](../assets/simulation_usage/03_gazebo_rqt.jpg) + +## Configuring the simulation + +The simulation can be configured by passing additional arguments to the `roslaunch` command or by changing the `~/catkin_ws/src/clover/clover_simulation/launch/simulator.launch` file. Nodes that provide [ArUco detection](aruco.md), [optical flow calculation](optical_flow.md) and other services can be configured by changing their respective `.launch` files, just like on a real drone. + +### Changing the drone parameters + +![vscode with simulator.launch open](../assets/simulation_usage/04_vscode_config.jpg) + +You can enable or disable some of the drone sensors by changing parameters in the `simulator.launch` file. For example, in order to enable GPS, set the `gps` argument to `true`: + +```xml + +``` + +Note that this will simply enable the sensor, you will have to change the PX4 estimator parameters to enable GPS fusion. + +If you wish to add additional sensors or change their placement, you will have to change the drone description. The description file is located in `~/catkin_ws/src/clover/clover_description/urdf/clover/clover4.xacro`, and uses the [xacro](http://wiki.ros.org/xacro) format to build URDF description. + +### Changing the default world + +Gazebo plugins for the drone currently require the `real_time_update_rate` world parameter to be 250, and `max_step_size` to be 0.004. Using other values will not work. Consider using `~/catkin_ws/src/clover/clover_simulation/resources/worlds/clover.world` as a base. diff --git a/docs/en/simulation_vm.md b/docs/en/simulation_vm.md new file mode 100644 index 00000000..9a1616d2 --- /dev/null +++ b/docs/en/simulation_vm.md @@ -0,0 +1,64 @@ +# Simulation VM setup + +In addition to [native installation instructions](simulation_setup_native.md), we provide a [preconfigured developer virtual machine image](https://github.com/CopterExpress/clover_vm/releases). The image contains: + +* Ubuntu 18.04 with XFCE lightweight desktop environment; +* ROS packages required to develop for the Clover platform; +* QGroundControl; +* preconfigured Gazebo simulation environment; +* Visual Studio Code with C++ and Python plugins. + +The VM is an easy way to set up a simulation environment, but can be used as a development environment for a real drone as well. + +You can download the latest VM image [in the VM releases repository](https://github.com/CopterExpress/clover_vm/releases). + +> **Note** The virtual machine should be used when native installation is not feasible or possible. You may experience reduced performance in programs that use 3D rendering, like rviz and Gazebo. + +## Setting up the VM + +You need to use a VM manager that supports OVF format, like [Virtualbox](https://www.virtualbox.org/wiki/Downloads), [VMware Player](https://www.vmware.com/products/workstation-player.html) or [VMware Workstation](https://www.vmware.com/products/workstation-pro.html). + +> **Note** At the time of writing Virtualbox had issues running the VM, particularly with 3D applications. We recommend using VMware Player or VMware Workstation if possible. The following steps assume you're using VMware Player. + +Make sure that you have hardware virtualization enabled in your BIOS/UEFI (it may be supported by your hardware but turned off by default). The steps to enable virtualization differ from manufacturer to manufacturer, but should be described in your system manual. Consult your system's manufacturer if you're having trouble turning virtualization on. + +1. Import the OVA archive into your virtualization environment. Use the **Open a Virtual Machine** option in VMware Player: + + ![Open dialog with clever-devel.ova selected](../assets/simulation_setup_vm/01_import_vm.png) + + > **Note** You may see a dialog box with a warning about the VM format: + ![Import failure dialog](../assets/simulation_setup_vm/02_import_failure.png) + You can safely ignore the warning and press **Retry**. + +2. Right-click on the VM name and select **Virtual Machine Settings**. In the new window, set the following parameters: + + * increase the amount of memory available to the virtual machine (a good rule of thumb is 2048 MB per CPU core, but no less than 4 GB): + ![Increasing avaliable memory](../assets/simulation_setup_vm/03_max_memory.png) + * increase the amount available CPU cores: + ![Increasing cpu cores](../assets/simulation_setup_vm/04_core_count.png) + * enable 3D acceleration: + ![Enabling 3D acceleration](../assets/simulation_setup_vm/05_3d_acceleration.png) + * enable USB 2.0/3.0 controller (if you plan to connect external devices to the VM): + ![USB 3.0 controller](../assets/simulation_setup_vm/06_usb_3_0.png) + * optionally enable the "bridged" network connection (if you plan to connect to a real drone): + ![Enabling bridge networking](../assets/simulation_setup_vm/07_bridge_networking.png) + + > **Note** Some host network adapters may not work well with the bridged network. Consider using external USB Wi-Fi adapters managed by your VM to connect to a real drone. + +3. "Power on" the virtual machine. You may see a warning message about your host system not providing 3D acceleration: + + ![No 3D support from host](../assets/simulation_setup_vm/08_no_3d_acceleration.png) + + Make sure you have the latest GPU drivers for your host system. If the warnings persist, add the following line to `clover-devel.vmx` (actual file name may differ based on the VM name): + + ``` + mks.gl.allowBlacklistedDrivers = "TRUE" + ``` + + You can find this file in a folder where the VM is imported to. + +4. (Bridged networking only) Set up network bridge configuration in VM settings or using `vmware-netcfg` utility (in Linux): + + ![vmware-netcfg interface](../assets/simulation_setup_vm/09_netcfg.png) + + Select `vmnet0` in the networks list, set it to *Bridged*, and choose the adapter you are planning to use to connect to drone in the drop-down menu.