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Merge pull request #45 from OSURoboticsClub/nav_dev_odometry
Added odometry to imu, gps, and servo
2 parents b137c11 + 85edd0a commit ee449c9

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‎software/ros_packages/rover_camera/src/-e‎ renamed to ‎software/.startCan.sh.swp‎

File renamed without changes.

‎software/bags/bag_data.sh‎

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# Add validation and timestamp to ensure uniqueness
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if [ -z "$1" ]; then
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echo "Usage: $0 <bag_name>"
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exit 1
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fi
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ros2 bag record \
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-s mcap -o ~/Rover_2023_2024/software/bags/$1 \
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/tf_static \
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/odometry/global \
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/odom \
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/imu/data \
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/gps/fix \
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/camera/d455/color/image_raw \
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/camera/d455/color/camera_info \
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/camera/d455/aligned_depth_to_color/image_raw \
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/tf

‎software/environment/rover/UDEV_rules/99-rover-cameras.rules‎

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@@ -21,4 +21,4 @@ KERNEL=="video[0-9]*", SUBSYSTEM=="video4linux", ATTRS{idVendor}=="32e4", ATTRS{
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KERNEL=="video[0-9]*", SUBSYSTEM=="video4linux", ATTRS{idVendor}=="05a3", ATTRS{idProduct}=="9422", ATTRS{serial}=="SN0001", ATTR{index}=="0", SYMLINK+="rover/camera_main_navigation_backup"
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# lights/gps infrared camera
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KERNEL=="video[0-9]*", SUBSYSTEM=="video4linux", ATTRS{idVendor}=="0c45", ATTRS{idProduct}=="6369", SYMLINK+="rover/camera_infrared"
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KERNEL=="video[0-9]*", SUBSYSTEM=="video4linux", ATTRS{idVendor}=="0c45", ATTRS{idProduct}=="6369", ENV{ID_V4L_CAPABILITIES}==":capture:", SYMLINK+="rover/camera_infrared"

‎software/output.txt‎

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1763525750.962177 [0] tev: ddsi_udp_conn_write to udp/192.168.1.11:40895 failed with retcode -1
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1763525751.004895 [0] tev: ddsi_udp_conn_write to udp/192.168.1.11:59703 failed with retcode -1
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1763525751.062229 [0] tev: ddsi_udp_conn_write to udp/192.168.1.11:40895 failed with retcode -1
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1763525751.104970 [0] tev: ddsi_udp_conn_write to udp/192.168.1.11:59703 failed with retcode -1
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1763525751.162307 [0] tev: ddsi_udp_conn_write to udp/192.168.1.11:40895 failed with retcode -1
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1763525751.262385 [0] tev: ddsi_udp_conn_write to udp/192.168.1.11:40895 failed with retcode -1
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1763525751.305036 [0] tev: ddsi_udp_conn_write to udp/192.168.1.11:59703 failed with retcode -1
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1763525751.347732 [0] tev: ddsi_udp_conn_write to udp/192.168.1.11:59703 failed with retcode -1
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1763525751.462458 [0] tev: ddsi_udp_conn_write to udp/192.168.1.11:40895 failed with retcode -1
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1763525751.505110 [0] tev: ddsi_udp_conn_write to udp/192.168.1.11:59703 failed with retcode -1
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1763525751.662543 [0] tev: ddsi_udp_conn_write to udp/192.168.1.11:40895 failed with retcode -1
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1763525751.705816 [0] tev: ddsi_udp_conn_write to udp/192.168.1.11:59975 failed with retcode -1
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1763525751.905183 [0] tev: ddsi_udp_conn_write to udp/192.168.1.11:59703 failed with retcode -1
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1763525752.305257 [0] tev: ddsi_udp_conn_write to udp/192.168.1.11:59703 failed with retcode -1
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1763525752.347805 [0] tev: ddsi_udp_conn_write to udp/192.168.1.11:59703 failed with retcode -1
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1763525752.706216 [0] tev: ddsi_udp_conn_write to udp/192.168.1.11:59975 failed with retcode -1
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1763525753.105346 [0] tev: ddsi_udp_conn_write to udp/192.168.1.11:59703 failed with retcode -1
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1763525753.279012 [0] tev: ddsi_udp_conn_write to udp/239.255.0.1:7400 failed with retcode -1
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1763525753.347884 [0] tev: ddsi_udp_conn_write to udp/192.168.1.11:59703 failed with retcode -1
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1763525753.379087 [0] tev: ddsi_udp_conn_write to udp/239.255.0.1:7400 failed with retcode -1
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1763525753.381952 [0] tev: ddsi_udp_conn_write to udp/239.255.0.1:7400 failed with retcode -1
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1763525753.479167 [0] tev: ddsi_udp_conn_write to udp/239.255.0.1:7400 failed with retcode -1
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1763525753.579676 [0] tev: ddsi_udp_conn_write to udp/239.255.0.1:7400 failed with retcode -1
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1763525753.679746 [0] tev: ddsi_udp_conn_write to udp/239.255.0.1:7400 failed with retcode -1
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1763525753.779828 [0] tev: ddsi_udp_conn_write to udp/239.255.0.1:7400 failed with retcode -1
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1763525753.879905 [0] tev: ddsi_udp_conn_write to udp/239.255.0.1:7400 failed with retcode -1
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1763525753.905506 [0] tev: ddsi_udp_conn_write to udp/192.168.1.11:59703 failed with retcode -1
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1763525754.079985 [0] tev: ddsi_udp_conn_write to udp/239.255.0.1:7400 failed with retcode -1
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1763525754.280070 [0] tev: ddsi_udp_conn_write to udp/239.255.0.1:7400 failed with retcode -1
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1763525754.680151 [0] tev: ddsi_udp_conn_write to udp/239.255.0.1:7400 failed with retcode -1
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1763525755.080232 [0] tev: ddsi_udp_conn_write to udp/239.255.0.1:7400 failed with retcode -1
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1763525755.505568 [0] tev: ddsi_udp_conn_write to udp/192.168.1.11:59703 failed with retcode -1
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1763525755.880304 [0] tev: ddsi_udp_conn_write to udp/239.255.0.1:7400 failed with retcode -1
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1763525756.680375 [0] tev: ddsi_udp_conn_write to udp/239.255.0.1:7400 failed with retcode -1
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1763525757.105776 [0] tev: ddsi_udp_conn_write to udp/192.168.1.11:59703 failed with retcode -1
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1763525758.280457 [0] tev: ddsi_udp_conn_write to udp/239.255.0.1:7400 failed with retcode -1
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1763525759.880532 [0] tev: ddsi_udp_conn_write to udp/239.255.0.1:7400 failed with retcode -1
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1763525760.305845 [0] tev: ddsi_udp_conn_write to udp/192.168.1.11:59703 failed with retcode -1
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1763525782.702797 [0] tev: ddsi_udp_conn_write to udp/192.168.1.11:43720 failed with retcode -1
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1763525782.702869 [0] tev: ddsi_udp_conn_write to udp/239.255.0.1:7400 failed with retcode -1
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1763525782.702886 [0] tev: ddsi_udp_conn_write to udp/192.168.1.11:43720 failed with retcode -1
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1763525782.707534 [0] tev: ddsi_udp_conn_write to udp/192.168.1.11:43720 failed with retcode -1
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1763525782.802893 [0] tev: ddsi_udp_conn_write to udp/192.168.1.11:43720 failed with retcode -1
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1763525782.802953 [0] tev: ddsi_udp_conn_write to udp/239.255.0.1:7400 failed with retcode -1
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1763525782.902968 [0] tev: ddsi_udp_conn_write to udp/192.168.1.11:43720 failed with retcode -1
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1763525782.903032 [0] tev: ddsi_udp_conn_write to udp/239.255.0.1:7400 failed with retcode -1
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1763525783.003041 [0] tev: ddsi_udp_conn_write to udp/192.168.1.11:43720 failed with retcode -1
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1763525783.003095 [0] tev: ddsi_udp_conn_write to udp/239.255.0.1:7400 failed with retcode -1
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1763525783.103113 [0] tev: ddsi_udp_conn_write to udp/192.168.1.11:43720 failed with retcode -1
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1763525783.103159 [0] tev: ddsi_udp_conn_write to udp/239.255.0.1:7400 failed with retcode -1
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1763525783.203183 [0] tev: ddsi_udp_conn_write to udp/192.168.1.11:43720 failed with retcode -1
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1763525783.203236 [0] tev: ddsi_udp_conn_write to udp/239.255.0.1:7400 failed with retcode -1
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1763525783.303250 [0] tev: ddsi_udp_conn_write to udp/192.168.1.11:43720 failed with retcode -1
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1763525783.303312 [0] tev: ddsi_udp_conn_write to udp/239.255.0.1:7400 failed with retcode -1
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1763525783.503319 [0] tev: ddsi_udp_conn_write to udp/192.168.1.11:43720 failed with retcode -1
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1763525783.503372 [0] tev: ddsi_udp_conn_write to udp/239.255.0.1:7400 failed with retcode -1
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1763525783.703685 [0] tev: ddsi_udp_conn_write to udp/192.168.1.11:43720 failed with retcode -1
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1763525783.703759 [0] tev: ddsi_udp_conn_write to udp/239.255.0.1:7400 failed with retcode -1
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1763525783.703775 [0] tev: ddsi_udp_conn_write to udp/192.168.1.11:43720 failed with retcode -1
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1763525783.713505 [0] tev: ddsi_udp_conn_write to udp/192.168.1.11:43720 failed with retcode -1
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1763525784.103942 [0] tev: ddsi_udp_conn_write to udp/192.168.1.11:43720 failed with retcode -1
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1763525784.103987 [0] tev: ddsi_udp_conn_write to udp/239.255.0.1:7400 failed with retcode -1
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1763525784.504028 [0] tev: ddsi_udp_conn_write to udp/192.168.1.11:43720 failed with retcode -1
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1763525784.504076 [0] tev: ddsi_udp_conn_write to udp/239.255.0.1:7400 failed with retcode -1
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1763525784.703736 [0] tev: ddsi_udp_conn_write to udp/192.168.1.11:43720 failed with retcode -1
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1763525784.713603 [0] tev: ddsi_udp_conn_write to udp/192.168.1.11:43720 failed with retcode -1

‎software/python_gstream_example.py‎

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import gi
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import sys
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gi.require_version('Gst', '1.0')
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from gi.repository import Gst, GLib
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Gst.init(sys.argv)
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# Optimized: Keep everything on GPU (NVMM memory)
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pipeline = Gst.parse_launch(
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'v4l2src do-timestamp=true device=/dev/rover/gripper-rgb ! '
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'image/jpeg,width=1920,height=1080,framerate=30/1 ! nvv4l2decoder mjpeg=1 ! nvvidconv ! video/x-raw ! tee name=t '
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't. ! queue ! appsink name=infrared_sink '
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't. ! queue ! videoscale ! video/x-raw,width=640,height=480,format=I420 ! '
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'nvvidconv ! video/x-raw(memory:NVMM),format=NV12 ! nvv4l2h265enc preset-level=1 bitrate=4000000 ! '
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'h265parse ! rtph265pay config-interval=1 ! rtpulpfecenc percentage=100 ! udpsink host=192.168.1.1 port=42068 sync=false'
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)
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def on_message(bus, message):
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t = message.type
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if t == Gst.MessageType.EOS:
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print("End of stream")
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loop.quit()
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elif t == Gst.MessageType.ERROR:
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err, debug = message.parse_error()
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print(f"Error: {err}")
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loop.quit()
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elif t == Gst.MessageType.WARNING:
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warn, debug = message.parse_warning()
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print(f"Warning: {warn}")
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return True
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def main():
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global loop
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bus = pipeline.get_bus()
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bus.add_signal_watch()
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bus.connect("message", on_message)
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print("Starting pipeline...")
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ret = pipeline.set_state(Gst.State.PLAYING)
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if ret == Gst.StateChangeReturn.FAILURE:
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print("ERROR: Unable to set pipeline to PLAYING")
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sys.exit(1)
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loop = GLib.MainLoop()
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try:
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loop.run()
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except KeyboardInterrupt:
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print("\nStopping...")
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finally:
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pipeline.set_state(Gst.State.NULL)
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if __name__ == "__main__":
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main()

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