Download the Hector-SLAM Package. Run roslaunch hector_slam_launch tutorial.launch. The command is quite similar to ROS1, except you must pass the base name of the map (so here, I'm passing map, which means it will save map.yaml and map.pgm in the local directory): ros2 run nav2_map_server map_saver_cli -f map. But if you try to search directly hector_slam, it will say it's not installed. So if you do not have hector_slam package in your system, I encourage you to install it in order to do the next steps. A value of 0.5 means no change. Create a Map Using the ROS Hector-SLAM Package Install Qt4 Download the Hector-SLAM Package Set the Coordinate Frame Parameters Launch Mapping Load a Saved Map Create a Preliminary Launch File Add an Inertial Measurement Unit (IMU) to the Robot Test the IMU Set Up the robot_pose_ekf Package Getting Started This will allow a robot to operate without collisions and navigate by avoiding any obstacles. This is the frame used for localization and for transformation of laser scan data. Download the Hector - SLAM Package. My quickstart guide to Hector Slam Mapping with RPLidar on a mobile robot base. No need for an odometry source for this. Build a Map Using the Hector-SLAM ROS Package. To begin working on the project, shop the following components. Hello, I'm quite new to ROS system and I'm trying to build an autonomous robot for a school project using a Jetson Nano (Ubuntu 18.04) with an YDLIDAR X4 Lidar. hector_mapping is a SLAM approach that can be used without odometry as well as on platforms that exhibit roll/pitch motion (of the sensor, the platform or both). The video here shows you how accurately TurtleBot3 can draw a map with its compact and affordable platform. We use the Hector-SLAM package. Launch Mapping. You can use this command to find your manually installed or created packges. Run rviz. Cartographer ROS Integration. *** RPLidar ROS Package: https://github.com/robopeak/rplidar_ros*** Hector SLAM ROS Package: https://github.com/tu-darmstadt-ros-pkg/hector_slam*** RPLidar SDK: https://www.robotshop.com/media/files/content/r/rpk/zip/rb-rpk-02-03-05-07_rplidar_sdk_v1.9.0_1.zip- Raspberry Pi 4 (4 GB RAM): https://amzn.to/36GqwXf- Raspberry Pi 4 (2 GB RAM): https://amzn.to/2Aj7Pg3- Wide angle camera: https://amzn.to/2Pwc6P7*** Special mention to NickL77: https://github.com/NickL77/RPLidar_Hector_SLAM** Go to my channel: https://goo.gl/BjLGnS** Check out my latest video: https://goo.gl/ZhcNi4** Check out my most popular video: https://goo.gl/5KMJnU******** SHOP - Never Stop Learning Apparelhttps://teespring.com/stores/geekmeup******** Find me on Facebookhttps://www.facebook.com/tizianotutorials******** Find me on Reddithttps://www.reddit.com/user/tizianofiorenzani/******** Find me on Linkedinhttps://www.linkedin.com/in/tiziano-fiorenzani/******** Find me on Twitterhttps://twitter.com/TFiorenzani#ros #rostutorial #hectorslam #rplidar The frame name when publishing the scanmatcher to map transform as described in the preceding parameter. For indoor robot positioning, run the following command in LXTerminal. If you have any question about hector, you can ask as well. $ sudo apt-get install ros-kinetic-hector-slam. hector_slam contains ROS packages related to performing SLAM in unstructed environments like those encountered in the Urban Search and Rescue (USAR) scenarios of the RoboCup Rescue competition. The same works on the x86 architecture, I have tested it but it's not working on my TX2. As noted in the official documentation, the two most commonly used packages for localization are the nav2_amcl . After preparing the ROS environment, install the drivers and SDK of LiDAR. To install all required packages for this tutorial run: sudo apt-get install ros-indigo-hector-slam The number of map multi-resolution grid levels. It leverages the high update rate of modern LIDAR systems like the Hokuyo UTM-30LX and provides 2D pose estimates at scan rate of the sensors (40Hz for the UTM-30LX). echo source ~/ydlidar_ws/devel/setup.bash >> ~/.bashrc, cd ~/ydlidar_ws/src/ydlidar_ros_driver/startup. Sorry for asking a simple question but I am new to using ROS and Linux and want to make sure that I install the package correctly to use. . Also I have Kinetic not indigo so I should replace that with the word kinetic to install the correct version right? To test the Hector SLAM and obtain a real-time map, run the following commands, roslaunch hector_slam_launch tutorial.launch, rosbag play Team_Hector_MappingBox_RoboCup_2011_Rescue_Arena.bag clock, rostopic pub syscommand std_msgs/String savegeotiff, Network Consists of Further Focused Websites (Channels), How to Score Points, Unlock Achievements & Gain Ranks, https://storage.googleapis.com/google-code-archive-downloads/v2/code.google.com/tu-darmstadt-ros-pkg/Team_Hector_MappingBox_RoboCup_2011_Rescue_Arena.bag, Top 10 Users on ElectronicsForU's Leaderboard, Amazing DIY projects. github-tu-darmstadt-ros-pkg-hector_slam github-tu-darmstadt-ros-pkg-hector_slam API Docs Browse Code Wiki Overview; 1 Assets; 4 Dependencies; 0 Tutorials; 0 Q & A; Package Summary. The platform has to travel this far in meters or experience an angular change as described by the map_update_angle_thresh parameter since the last update before a map update happens. The platform has to experience an angular change as described by this parameter of travel as far as specified by the map_update_distance_thresh parameter since the last update before a map update happens. Install Qt4. I am wanting to install hector_slam to use with a Tim 561 LiDAR, I already have ROS and sick_scan installed and working to be able to visualize the LiDAR data. Install Qt4. I am wanting to install hector_slam to use with a Tim 561 LiDAR, I already have ROS and sick_scan installed and working to be able to visualize the LiDAR data. Location of the origin [0.0, 1.0] of the /map frame on the y axis relative to the grid map. Pull requests AUTONOMOUS ROBOT NAVIGATION USING ROS Clearpath Husky A200 robot with Gazebo and RViz simulations using different SLAM and Path Planning algorithms. Tags: No category tags. Are you sure you want to create this branch? https://tiziano-school.thinkific.com/courses/school-of-ros-zero-to-ros **** Visit my brand new portal at https://tiziano-school.thinkific.com/ where you can find this ROS series as a FREE course **Open box and setup of the RPLidar A1M8, 360 degrees Laser Range Finder*** Thanks to Robotshop: https://rb1.shop/2Yevghk ***After a brief introduction and running through the SDK on Windows, we move to Linux and install the RPLidar ROS Package.Then we download and configure Hector SLAM and we run a quick mapping of my living room. ( I found this video by Tiziano Fiorenzani and the official resources on the ROS website helpful for setting Hector-SLAM up. No version for distro humble.Known supported distros are highlighted in the buttons above. Thanks. (optional) $ sudo apt-get install ros-kinetic-tur Call this service to stop/start processing laser scans. Hector_slam install fails; missing dependency opencv2 opencv2 beaglebone hector_slam asked Jun 6 '13 TJump 160 30 33 42 updated Jun 6 '13 I'm doing an install on my BeagleBone and I get the following error: Unable to locate package ros-groovy-opencv2 Hector SLAM is a mapping algorithm which only uses laser scan information to extract the map of the environment. The hang-out for electronics enthusiasts. It leverages the high update rate of modern LIDAR systems like the Hokuyo UTM-30LX and provides 2D pose estimates at scan rate of the sensors (40Hz for the UTM-30LX). After reading through the hector_slam documentation I found a line to use for installing the package shown bellow. SLAM). I've been working on a building a mobile robot platform test existing localization and mapping algorithms with the idea of gaining deeper understanding of hardware/software integration and the algos themselves. The queue size of the scan subscriber. Using hector_slam with high frequency Lidar. Scan endpoints farther away than this value are ignored. While various GPS-based maps facilitate autonomous robots and vehicles for accurate positioning when outdoors, they are unable to do the same indoors. No License, Build not available. Output timing information for processing of every laser scan via ROS_INFO. Note: You can find other packages with typing it's name instead of typing 'hector_mapping'. / Google Cartographer. You signed in with another tab or window. Real-Time mLAB UPenn 1.5K subscribers This tutorial will cover the installation of hector slam package and running a demo file to generate the map from a rosbag containing laser scans. A playlist with example applications of the system is also available on YouTube. The map update modifier for updates of free cells in the range [0.0, 1.0]. In this tutorial, I would like to set up Hector-slam with Rplidar on Jetson Nano. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. usually a fixed value, broadcast periodically by a. the current estimate of the robot's pose within the map frame (only provided if parameter "pub_map_odom_transform" is true). please help me. JetTankJetson NanoROS3DSLAM . Odometry data is not needed. hector_mapping is a SLAM approach that can be used without odometry as well as on platforms that exhibit roll/pitch motion (of the sensor, the platform or both). roslaunch ydlidar_ros_driver all_nodes.launch. The minimum height [m] relative to the laser scanner frame for laser scan endpoints to be used by the system. The SLAM (Simultaneous Localization and Mapping) is a technique to draw a map by estimating current location in an arbitrary space. ** Get started with ROS with my Zero to ROS course for beginners! As for replacing the indigo part to kinetic or what ever else distro you might be using. Latest Tech trends. You can be sure about that you've installed the specific package when you use the 'from the source' installation method by simply cheking the installation folder of the packages. Energid, the developer of Actin, is now providing a ROS Kinetic stack and a ROS plugin base class for Actin that supports Windows, Mac OS X, and Linux. Tested on Ubuntu 18.04 & ROS Melodic on Jetson Nano. Software installation for Hector SLAM is a breeze on Ubuntu 18.04. Scan endpoints lower than this value are ignored. Everything you want to know about India's electronics industry, South Asia's Most Popular Electronics Magazine. Package Summary. Build a Map Using the Hector - SLAM ROS Package. Instead, you can jump to installing the Hector SLAM. 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If you haven't installed ROS Desktop yet, do so with following commands (the same as first in part about Visual SLAM above): sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $ (lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' But if using the YD Lidar, then continue to the below steps. Hector SLAM A Flexible and Scalable SLAM System with Full 3D Motion Estimation ROSWiki: http://wiki.ros.org/hector_slam Github: https://github.com/tu-darmstadt-ros-pkg/hector_slam Install: $ sudo apt-get install ros-indigo-hector-* Launch: line 5: change base_frame default to base_link instead of base_footprint. hector_geotiff Saving of map and robot trajectory to geotiff images files. For example type this to the command line. So simply go to "/opt/ros/kinetic/share" folder by typing this: if you want to list all of the hector_slam metapackage packages, you can list them with grep: Method 2: Set the Coordinate Frame Parameters. It leverages the high update rate of modern LIDAR systems and provides 2D pose estimates at scan rate of the sensors. NOTE: Hector_slam is compatible with only ROS kinetic and indigo distributions according to the hector_slam ROS wiki. Handheld Mapping System in the RoboCup 2011 Rescue Arena. The name of the base frame of the robot. The text was updated successfully, but these errors were encountered: All reactions Copy link Member StefanFabian . You. To use hector_mapping, you need a source of sensor_msgs/LaserScan data (for example a Hokuyo UTM-30LX LIDAR or bagfiles). A value of 0.5 means no change. It will give you the location of the package. roslaunch hector_slam_launch tutorial.launch. Run roslaunch rplidar_ros rplidar.launch. Then open all_nodes.launch file and change the parameters as per the pic below. . The main packages are: hector_mapping The SLAM node. Install binary packages The hector_quadrotor, hector_slam, hector_localization, hector_gazebo and hector_models packages are needed to run this demo. Next we can create a launch file to display the map - I used the example in nav2_bringup as my starting place and . The maximum height [m] relative to the laser scanner frame for laser scan endpoints to be used by the system. Location of the origin [0.0, 1.0] of the /map frame on the x axis relative to the grid map. Contributors: Stefan Fabian Modify some LiDAR settings in the lidar launch file for indoor positioning. Run chmod 666 /dev/ttyUSB0 or the serial path to your lidar. Implement hector_slam with how-to, Q&A, fixes, code snippets. To test the Hector SLAM and obtain a real-time map, run the following commands. A platform for enablers, creators and providers of IOT solutions. The SLAM is a well-known feature of TurtleBot from its predecessors. hector_mapping is a SLAM approach that can be used without odometry as well as on platforms that exhibit roll/pitch motion (of the sensor, the platform or both). Building your Hector SLAM workspace and package. Method 1: The ROS Wiki is for ROS 1. Before installing the Hector SLAM, first, install the Robot Operating Software (ROS). Cartographer is a system that provides real-time simultaneous localization and mapping ( SLAM) in 2D and 3D across multiple platforms and sensor configurations. So no, you do not have to be in any specific folder to use that command. Installation. Yes that is correct, replace the indigo part to kinetic. I've managed to build the ROS environment and managed to configure Hector_Slam package in order to . I tested hector-slam on Ubuntu 16.04 with ROS Kinetic. Open a new LXTerminal and run the following command to install Hector SLAM. (optional) $ sudo apt-get install ros-kinetic-turtlebot3. Call this service to reset the map, and hector will start a whole new map from scratch. Method 3: The map update modifier for updates of occupied cells in the range [0.0, 1.0]. A tag already exists with the provided branch name. . First and important note, hector_slam is a metapackage. While the system does not provide explicit loop closing ability, it is sufficiently accurate for many real world scenarios. Unmanned Ground Robots, Unmanned Surface Vehicles, Handheld Mapping Devices and logged data from quadrotor UAVs. Because this command doesn't work with the metapackages. Clone the GitHub repository to your catkin workspace. Scan endpoints closer than this value are ignored. Ubuntu 18.04LTS $ cd ~ $ sudo apt-get install ros-melodic-rplidar . ROS and Hector SLAM for Non-GPS Navigation This page shows how to setup ROS and Hector SLAM using an RPLidarA2 lidar to provided a local position estimate for ArduPilot so that it can operate without a GPS. Now the next step is to understand the transform tree structure when you run the lidar_view.launch file. For example: then type pwd to see which directory that you're in. git clone https://github.com/YDLIDAR/YDLidar-SDK. The system has successfully been used on Get the map data from this topic, which is latched, and updated periodically. Hi, I have trouble with cmake of hector slam. These instructions were tested on an NVidia TX2 flashed with APSync and then ROS and MAVROS were installed as described here. Then, install hector-slam using apt package manager. Method 1. SLAM LDS : Turtlebot3 firmware SLAM: SLAM gmapping : Turtlebot3 firmware SLAM: SLAM gmapping Turtlebot3 map : 13. Line 5 should look like: line 6: change odom_frame default to base_link instead of nav. Free e-zine with select content and advertisements of Electronics For You. The robots need to be autonomous (hence the lidar) and needs to do social-distancing measurements (Jetson-inference will be used). How to run hector_slam with bag file of laser scanner? Further video examples are available in this playlist: http://www.youtube.com/playlist?list=PL0E462904E5D35E29. Compiling Cartographer ROS. Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.First install turtlebot3 ROS package. Threshold for performing map updates [m]. # # install ROS dependencies cd ~ /catkin_ws rosdep install --from-paths src --ignore-src -r -y # # build packages catkin_make # # if all . Thank you in advance however, since this is a basic package hector_mapping is a SLAM approach that can be used without odometry as well as on platforms that exhibit roll/pitch motion (of the sensor, the platform or both). This project provides Cartographer's ROS integration. When using this to install the package do I need to be within a specific working directory like the catkin work space I have made for my project? I cloned hector_slam package and did catkin build, but it is failing to build. See ROS Wiki . Connect the YD lidar to the USB of the RPi board, power it and obtain its desktop GUI. Save the Map. After reading through the hector_slam documentation I found a line to use for installing the package shown bellow. System command. The system has successfully been used on Unmanned Ground Robots, Unmanned Surface Vehicles, Handheld Mapping Devices and logged data from quadrotor UAVs. Installation. Scan endpoints higher than this value are ignored. The map resolution [m]. If the string equals "reset" the map and robot pose are reset to their inital state. Run rviz. Call this service to reset the map, the robot's pose, and resume mapping (if paused). First install turtlebot3 ROS package. To do so, first, go to the YD Lidar workspace and open the src file. Get the map data from this topic, which is latched, and updated periodically, The estimated robot pose without covariance, The estimated robot pose with an gaussian estimate of uncertainty. Clone this repository into your catkin workspace. Determine if the map->odom transform should be published by the system. The purpose of doing this is to enable our robot to navigate autonomously through both known and unknown environments (i.e. You can use the roscd command to go directly to the installation directory if the package is installed. Line 6 will look like: line 14 name of arg has to be changed to hector_geotiff_launch from hector_geotiff. - GitHub - avs2805/hector_slam_quickstart: My quickstart guide to Hector Slam Mapping with RPLidar on a mobile robot base. SLAM : SLAM nodes : SLAM : SLAM : SLAM : Hector mapping SLAM . Notice that this doesn't restart the robot's pose, and it will restart from the last recorded pose. Wiki: hector_mapping (last edited 2021-03-24 15:28:26 by Marcelino Almeida), Except where otherwise noted, the ROS wiki is licensed under the, https://tu-darmstadt-ros-pkg.googlecode.com/svn/trunk/hector_slam, https://github.com/tu-darmstadt-ros-pkg/hector_slam.git, http://www.youtube.com/playlist?list=PL0E462904E5D35E29, Maintainer: Johannes Meyer , Author: Stefan Kohlbrecher . Hector Mapping in ROS using YDLidar X4 Tutorial Link: https://archit0994.wixsite.com/architshah/post/manage-your-blog-from-your-live-siteEmail ID: archit0994. No need for an odometry source for this. Please start posting anonymously - your entry will be published after you log in or create a new account. The map is square and has (map_size * map_size) grid cells. Set the Coordinate Frame Parameters. The minimum distance [m] for laser scan endpoints to be used by the system. Can you suggest how to install hector_slam package for ros-melodic. In this ROS 2 Navigation Stack tutorial, we will use information obtained from LIDAR scans to build a map of the environment and to localize on the map. First install turtlebot3 ROS package. 0.5 is in the middle. System: ROS Melodic. The simplest option is to install the Ubuntu binary packages of hector_quadrotor available in the ROS package repository. Set Up a Catkin Workspace and Install RPLIDAR ROS Packages. sudo apt-get install ros-noetic-gmapping And the terminal outputs: Unable to locate package When checking the ROS Wiki, I noticed that gmapping is still not available on Noetic, however, since this is a basic package, I wanted to know if there is any work around to get it. The frame name is determined by the 'tf_map_scanmatch_transform_frame_name' parameter. The apt install part of the command indicates that this is installing the program system wide. If you want to install a package or a metapackage you can use install from the source option. Fig 2.Lidar mapping. hector_trajectory_server Saving of tf based trajectories. Launch Mapping. Robots tasked with things like moving packets in a warehouse or floor cleaning robots cannot perform well without a real-time accurate mapping of rooms and buildings. About Press Copyright Contact us Creators Advertise Developers Terms Privacy Policy & Safety How YouTube works Test new features Press Copyright Contact us Creators . Hector-Slam on Jetson Nano. This is the length of a grid cell edge. kandi ratings - Low support, No Bugs, No Vulnerabilities. It leverages the high update rate of modern LIDAR systems like the Hokuyo UTM-30LX and provides 2D pose estimates at scan rate of the sensors (40Hz for the UTM-30LX). This should be set to high values (for example 50) if logfiles are played back to hector_mapping at faster than realtime speeds. Tiziano Fiorenzani's Video on Hector Slam with RPlidar. Determines if the scanmatcher to map transform should be published to tf. The node uses tf for transformation of scan data, so the LIDAR does not have to be fixed related to the specified base frame. added missing install rule for launch files; added changelogs; 0.3.0 (2013-08-08) catkinized hector_slam; Wiki Tutorials. Check out the ROS 2 Documentation. It includes hector_mapping and related packages. Save the Map. Creative Commons Attribution Share Alike 3.0. 360 degrees laser scan with two SICK LMS511 LIDARs localization astar-algorithm path-planning ros kinetic slam itu husky dijkstra-algorithm amcl clearpath hector-slam teb a200 You can install the hector_slam package by simply typing in the following command. Prerequisites. . Set Up a Catkin Workspace and Install RPLIDAR ROS Packages. So again, launch the lidar_view.launch file (optional) 0.5 is in the middle. roslaunch ydlidar_ros_driver all_nodes.launch. As you mentioned, you need to use your distro when you want to install a package. Before I build and write odometry and IMU fusion nodes, I decided to try out hector slam as it does not need an odometry source. if you want see the packages are installed or not, you can use rospack find command. No need for an odometry source for this. RVIZ should open up with SLAM data. Google Cartographer slam. For indoor robot positioning, run the following command in LXTerminal. I hope this answer is satisfying for you. So in todays project, we will counter that by devising a low-cost system for creating real-time maps of indoor environments. . Threshold for performing map updates [rad]. If you are using the RPI Lidar, then no need to follow these steps. Hi Can anyone help how to install hector_slam package for Melodic. ros sudo apt-get install ros-noetic-navigation gmapping sudo apt-get install ros-noetic-gmapping hector-slam sudo apt-get install ros-noetic-hector-slam cartographer git sudo apt-ge In your catkin workspace run source /devel/setup.bash. It enables us to create the maps (with a Lidar alone, no IMU needed) that we will later use for localization and navigation. You will then get a map of the robots current position and its surroundings. The Hector SLAM is now ready. . Note: To get Hector SLAM to work, I made the following changes: Make a copy of hector_slam/hector_mapping/launch/mapping_default.launch in the folder you created in the last step hector_slam_quickstart/launch and change: Make a copy of hector_slam/hector_slam_launch/launch/tutorial.launch in the folder you created in the last step hector_slam_quickstart/launch and call it hector_slam_quickstart.launch and make the following changes: This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository. Are you using ROS 2 (Dashing/Foxy/Rolling)? While the system does not provide explicit loop closing ability, it is sufficiently accurate for many real world scenarios. That's all for . sudo apt-get install ros-kinetic-hector-slam, wgethttps://storage.googleapis.com/google-code-archive-downloads/v2/code.google.com/tu-darmstadt-ros-pkg/Team_Hector_MappingBox_RoboCup_2011_Rescue_Arena.bag. Next, create the ROS workspace for the LiDAR and then install the ROS driver using the following commands in the LXTerminal. The maximum distance [m] for laser scan endpoints to be used by the system. The size [number of cells per axis] of the map. Load a Saved Map. sudo apt-get install ros-indigo-hector-slam. Changelog for package hector_slam 0.5.2 (2021-04-08) 0.5.1 (2021-01-15) Added hector_geotiff_launch to hector_slam metapackge. 17,623 12 31. 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