mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
ros-pkg: updated demo_robot_mapping.launch and demo_robot_mapping_rviz.launch to show always the global map
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1998 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
@@ -0,0 +1,403 @@
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Panels:
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- Class: rviz/Displays
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Help Height: 78
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /TF1/Frames1
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Splitter Ratio: 0.411058
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Tree Height: 422
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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Expanded:
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- /2D Pose Estimate1
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- /2D Nav Goal1
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Name: Tool Properties
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Splitter Ratio: 0.588679
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- Class: rviz/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz/Time
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: PointCloud2
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.03
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: map
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 2.02684
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Min Value: -1.12646
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Value: true
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Axis: Z
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Channel Name: rgb
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Class: rviz/PointCloud2
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Color: 255; 255; 255
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Color Transformer: RGB8
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 2.34177e-38
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Min Color: 0; 0; 0
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Min Intensity: 9.21942e-41
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Name: PointCloud2
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.01
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Style: Points
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Topic: /voxel_cloud
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 8.34969
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Min Value: -0.777029
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Value: true
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Axis: X
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Channel Name: intensity
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Class: rviz/LaserScan
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Color: 255; 255; 255
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Color Transformer: Intensity
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: LaserScan
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.01
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Style: Points
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Topic: /jn0/base_scan
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Class: rviz/TF
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Enabled: true
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Frame Timeout: 15
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Frames:
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All Enabled: false
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L_forearm_link:
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Value: true
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L_frame_tool_link:
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Value: true
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L_gripper_up_link:
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Value: true
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L_shoulder_fixed_link:
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Value: true
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L_shoulder_pan_link:
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Value: true
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L_shoulder_tilt_link:
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Value: true
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L_upper_arm_link:
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Value: true
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R_forearm_link:
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Value: true
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R_frame_tool_link:
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Value: true
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R_gripper_up_link:
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Value: true
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R_shoulder_fixed_link:
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Value: true
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R_shoulder_pan_link:
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Value: true
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R_shoulder_tilt_link:
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Value: true
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R_upper_arm_link:
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Value: true
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base_footprint:
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Value: true
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base_laser_link:
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Value: true
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base_link:
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Value: true
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head_l_eye_eyebrow_link:
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Value: true
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head_l_eye_link:
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Value: true
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head_l_eye_pupil_link:
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Value: true
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head_link:
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Value: true
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head_r_eye_eyebrow_link:
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Value: true
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head_r_eye_link:
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Value: true
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head_r_eye_pupil_link:
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Value: true
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map:
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Value: true
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neck_bracket_link:
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Value: true
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neck_pan_link:
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Value: true
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neck_tilt_link:
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Value: true
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neck_top_frame:
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Value: true
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odom:
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Value: true
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openni_base_link:
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Value: true
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openni_camera_link:
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Value: true
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openni_depth_frame:
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Value: true
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openni_depth_optical_frame:
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Value: true
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openni_rgb_frame:
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Value: true
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openni_rgb_optical_frame:
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Value: true
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torso_imu_link:
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Value: true
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torso_link:
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Value: true
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torso_stand_link:
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Value: true
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torso_top_frame:
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Value: true
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wheelLB_linkWheel_link:
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Value: true
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wheelLB_wheel_link:
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Value: true
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wheelLF_linkWheel_link:
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Value: true
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wheelLF_wheel_link:
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Value: true
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wheelRB_linkWheel_link:
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Value: true
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wheelRB_wheel_link:
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Value: true
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wheelRF_linkWheel_link:
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Value: true
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wheelRF_wheel_link:
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Value: true
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Marker Scale: 1
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Name: TF
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Show Arrows: true
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Show Axes: true
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Show Names: true
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Tree:
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map:
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odom:
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base_footprint:
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base_link:
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base_laser_link:
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{}
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torso_link:
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L_shoulder_fixed_link:
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L_shoulder_pan_link:
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L_shoulder_tilt_link:
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L_upper_arm_link:
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L_forearm_link:
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L_frame_tool_link:
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{}
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L_gripper_up_link:
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{}
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R_shoulder_fixed_link:
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R_shoulder_pan_link:
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R_shoulder_tilt_link:
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R_upper_arm_link:
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R_forearm_link:
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R_frame_tool_link:
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{}
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R_gripper_up_link:
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{}
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torso_top_frame:
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neck_pan_link:
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neck_tilt_link:
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neck_bracket_link:
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neck_top_frame:
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head_link:
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head_l_eye_link:
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head_l_eye_eyebrow_link:
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{}
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head_l_eye_pupil_link:
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{}
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head_r_eye_link:
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head_r_eye_eyebrow_link:
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{}
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head_r_eye_pupil_link:
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{}
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openni_base_link:
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openni_camera_link:
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openni_depth_frame:
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openni_depth_optical_frame:
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{}
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openni_rgb_frame:
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openni_rgb_optical_frame:
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{}
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torso_imu_link:
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{}
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torso_stand_link:
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{}
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wheelLB_linkWheel_link:
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wheelLB_wheel_link:
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{}
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wheelLF_linkWheel_link:
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wheelLF_wheel_link:
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{}
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wheelRB_linkWheel_link:
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wheelRB_wheel_link:
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{}
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wheelRF_linkWheel_link:
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wheelRF_wheel_link:
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{}
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Update Interval: 0
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Value: true
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- Class: rviz/Image
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Enabled: true
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Image Topic: /data_throttled_image
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Max Value: 1
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Median window: 5
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Min Value: 0
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Name: Image
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Normalize Range: true
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Queue Size: 2
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Transport Hint: compressed
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rtabmap/MapCloud
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Cloud decimation: 8
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Cloud max depth (m): 4
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Cloud voxel size (m): 0.01
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Color: 255; 255; 255
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Color Transformer: RGB8
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Download graph: false
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Download map: false
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Enabled: true
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Filter floor (m): 0
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: MapCloud
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Node filtering angle (degrees): 30
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Node filtering radius (m): 0.1
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Position Transformer: XYZ
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Size (Pixels): 3
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Size (m): 0.01
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Style: Points
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Topic: /rtabmap/mapData_optimized
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Alpha: 1
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Class: rtabmap/MapGraph
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Color: 25; 255; 0
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Enabled: true
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Name: MapGraph
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Topic: /rtabmap/mapData_optimized
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Value: true
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- Alpha: 0.7
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Class: rviz/Map
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Color Scheme: map
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Draw Behind: false
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Enabled: true
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Name: Map
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Topic: /rtabmap/grid_map
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Value: true
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- Class: rtabmap/Info
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Enabled: true
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Name: Info
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Topic: /rtabmap/info
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Value: true
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Fixed Frame: map
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz/Interact
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Hide Inactive Objects: true
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- Class: rviz/MoveCamera
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- Class: rviz/Select
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- Class: rviz/Measure
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- Class: rviz/SetInitialPose
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Topic: /initialpose
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- Class: rviz/SetGoal
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Topic: /move_base_simple/goal
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Value: true
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Views:
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Current:
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Class: rviz/Orbit
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Distance: 9.93954
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.06
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
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X: -0.0336609
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Y: 0.112555
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Z: -0.719693
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Name: Current View
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Near Clip Distance: 0.01
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Pitch: 0.809796
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Target Frame: base_link
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Value: Orbit (rviz)
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Yaw: 3.82418
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 824
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Hide Left Dock: false
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Hide Right Dock: false
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Image:
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collapsed: false
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QMainWindow State: 000000ff00000000fd0000000400000000000001530000031afc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000000000000235000000dd00fffffffb0000000a0049006d006100670065010000023b000000df0000001600fffffffb0000000a0049006d00610067006501000001fd0000011d0000000000000000000000010000010f00000312fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000312000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003a00000031a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: false
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Width: 1273
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X: 257
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Y: 86
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