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test #2

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2efdad8
Fix format strings in calls to RCLCPP macros (#2139)
SyllogismRXS Jan 1, 2021
8d6cd28
Add particle cloud display plugin for RViz (#1688)
naiveHobo Jan 6, 2021
6171087
Add nav2_behavior_tree::BtActionServer (#2010)
naiveHobo Jan 13, 2021
567f8c8
Changed FollowWaypoints to follow_waypoints (#2151)
NithishkumarS Jan 22, 2021
13f518a
Adding parameter for minimum range for raycasting to clear obstacles …
danieljeswin Jan 22, 2021
9387332
adding tests for wp follower task executors (#2156)
SteveMacenski Jan 25, 2021
cfa2843
fix boundary point exclusion in convexFillCells (#2161)
ChristofDubs Feb 2, 2021
b3b7d00
Remove eloquent jobs from readme (#2166)
SteveMacenski Feb 3, 2021
c50b8b9
Update README.md (#2167)
SteveMacenski Feb 3, 2021
378d534
Update README.md (#2168)
SteveMacenski Feb 3, 2021
6d5e65a
changing all non-changing references from navigation2 to Nav2 (#2169)
SteveMacenski Feb 4, 2021
d5b3032
attempt at bringing up CI (2158) (#2170)
SteveMacenski Feb 5, 2021
d3bf4ff
Test to see if switching DDS vendor fixes our CI issues (#2172)
SteveMacenski Feb 9, 2021
6093b4f
Regulated pure pursuit controller (#2152)
SteveMacenski Feb 11, 2021
0dc2478
Updating example yaml to include extra params (#2183)
SteveMacenski Feb 12, 2021
8dcfe04
Fixing control_frequency to controller_frequency typo (#2182)
SteveMacenski Feb 12, 2021
79fcb77
(WIP) Recoveries always return success, regardless if they're able to…
vinnnyr Feb 12, 2021
4e52bad
Write doxygen for navfn (#2184)
mlsdpk Feb 12, 2021
08f52cf
expose dwb's shorten_transformed_plan param (#2188)
simutisernestas Feb 18, 2021
565c294
fix broken links in README (#2199)
AustinDeric Feb 23, 2021
4ffc701
ensure the index also isn't the goal's (#2201)
SteveMacenski Feb 25, 2021
740afd5
Adding RPP to metapackage.xml (#2198)
SteveMacenski Feb 25, 2021
51ad0f1
Fix recovery action collision check. (#2203)
acyen Feb 25, 2021
ff81daf
[NavFn] Make the 3 parameters changeable at runtime (#2181)
doisyg Feb 25, 2021
7e0c83b
Install test_updown to lib/ (#2208)
Uladzslau Feb 26, 2021
8899b66
Remove optimization check on carrot, incorrect optimization (#2209)
SteveMacenski Feb 26, 2021
992deb0
Add support of absolute limits to Speed Filter (#2149)
AlexeyMerzlyakov Mar 1, 2021
2d88d14
[RPP] Remove dependency on collision checking to carrot location (#2211)
SteveMacenski Mar 3, 2021
4dbb292
Export nav2_bt_navigator library and dependencies (#2213)
MarcoLm993 Mar 3, 2021
a5a7772
fixing depricated API (#2217)
SteveMacenski Mar 4, 2021
936b163
CI Fixes Part 4 (#2219)
SteveMacenski Mar 5, 2021
f522f63
If provided param file has no slam_toolbox params, don't forward it (…
v-lopez Mar 5, 2021
087d137
Add ClearAroundRobot and ClearExceptRegion action bt (#2204)
doisyg Mar 5, 2021
50c2ecc
Ability to get a path from the planner from any 2 poses (start_pose a…
doisyg Mar 5, 2021
c112ffd
fix exit (#2224)
doisyg Mar 8, 2021
c054cdd
fix typo in regulated pure pursuit readme (#2228)
guilyx Mar 9, 2021
ac66de2
Rviz state machine waypoint follower updates (#2227)
SteveMacenski Mar 9, 2021
febb5fe
ServiceClient use callback group (#2216)
BriceRenaudeau Mar 9, 2021
24f0bc6
adding precomputations of trig and offsets (#2231)
SteveMacenski Mar 11, 2021
a9aa449
fixing smac collision on footprints (#2232)
SteveMacenski Mar 11, 2021
47d7d7d
new functions (#2233)
doisyg Mar 11, 2021
0382175
Fix #2186 (#2222)
doisyg Mar 11, 2021
a31fcf2
goal blackboard ID variable (#2235)
SteveMacenski Mar 11, 2021
27db9a4
new behavior tree node for triggering just once (#2236)
SteveMacenski Mar 11, 2021
afd0d84
adding doxygen for nav2-utils (#2237)
SteveMacenski Mar 12, 2021
ed8f78e
Use different param name for slam_toolbox param_file (#2242)
v-lopez Mar 13, 2021
b654b09
adding doxygen to recoveries (#2241)
SteveMacenski Mar 13, 2021
b91f1cc
Adding maintainer checklist to Pr template (#2244)
SteveMacenski Mar 13, 2021
e25da92
Forse ROS2 parameters to be static to meet RCLCPP API changes (#2239)
AlexeyMerzlyakov Mar 16, 2021
cfb07ce
Update README.md (#2250)
SteveMacenski Mar 16, 2021
e2a7fde
Fix SingleTrigger BT node (#2245)
naiveHobo Mar 16, 2021
3cfe676
[SimpleGoalChecker] Make parameters changeable at runtime (#2248)
doisyg Mar 16, 2021
d8bd3c5
Controller plugins include goal checker when computing commands (#2252)
SteveMacenski Mar 16, 2021
6c46c2e
adding partial doxygen coverage for AMCL (#2253)
SteveMacenski Mar 17, 2021
3bf1f7a
Add doxygen coverage to nav2_behavior_tree (#2254)
naiveHobo Mar 17, 2021
8c087f3
Update PULL_REQUEST_TEMPLATE.md
SteveMacenski Mar 22, 2021
c7a1df2
[nav2_controller] Dynamic parameters for the reminding plugins (#2260)
doisyg Mar 23, 2021
c337ac2
Fix for inflation artifacts behind update bounds (#2259)
AlexeyMerzlyakov Mar 23, 2021
ae09b37
Planner selector (#2249)
pabloinigoblasco Mar 23, 2021
ed43bed
Controller selector (#2266)
pabloinigoblasco Mar 23, 2021
e134594
Reduce RAM usage in CI (#2258)
ruffsl Mar 26, 2021
332304b
Remove service nodes in lifecycle_manager (#2267)
BriceRenaudeau Mar 29, 2021
6096221
Enable rmw_connextdds for nightly CI (#2274)
ruffsl Mar 31, 2021
ed6a8de
[nav2_behavior_tree] Reduce bt_action_node verbose (#2279)
doisyg Mar 31, 2021
aeccbe7
Replaced sensor_msgs/PointCloud to sensor_msgs/PointCloud2 (#2263)
saching13 Mar 31, 2021
53c2d60
ServiceClient wait_for_service not infinite (#2278)
BriceRenaudeau Mar 31, 2021
44081fe
smac checking collision footprint only when in possibly inscribed sit…
SteveMacenski Apr 2, 2021
daf1161
Handle navigate_to_pose preemptions with new BT (#2261)
naiveHobo Apr 2, 2021
4615bc0
adding amcl doxygen (#2284)
SteveMacenski Apr 2, 2021
1821ac3
Deprecates use of geometry_msgs/PoseArray for particle cloud in AMCL …
abhishek47kashyap Apr 2, 2021
30b405c
[Draft] [nav2_controller] Add controller_patience param (#2264)
doisyg Apr 2, 2021
b097667
corrected backup plugin name for multirobot params (#2287)
shonigmann Apr 3, 2021
81e1c7d
Improve NavigationToPose action feedback (#2246)
deepaktalwardt Apr 5, 2021
50de7db
adding doxygen to costmap_2d (#2292)
SteveMacenski Apr 6, 2021
c6294d5
Navigate through poses action ability (#2271)
SteveMacenski Apr 6, 2021
9ace8ae
adding missing test dependencies (#2293)
SteveMacenski Apr 6, 2021
8a7a4f2
Including new algorithms in build table badges (#2294)
SteveMacenski Apr 6, 2021
f929dbd
fixing doxygen filepath
SteveMacenski Apr 6, 2021
aaf2561
adjusting new files for tb3 model (#2298)
SteveMacenski Apr 6, 2021
0ade922
audited and removed unnecessarily complex launch configurations (#2295)
SteveMacenski Apr 7, 2021
d537cb1
fix unsigned long comparison (#2310)
doisyg Apr 13, 2021
f289510
RCLCPP_INFO -> RCLCPP_DEBUG (#2311)
doisyg Apr 14, 2021
4066ab9
fix https://github.com/ros-planning/navigation2/issues/2312 (#2313)
AustinDeric Apr 15, 2021
b41491a
[WIP] Fix for wings artifacts: adding new filters entity to separatel…
AlexeyMerzlyakov Apr 21, 2021
1f72381
[nav2_lifecycle_manager] Support namespaced LifecycleManagers (#2309)
doisyg Apr 22, 2021
dc77d1f
fix AttributeError in nav2_gazebo_spawner (#2322)
KavenYau Apr 23, 2021
1a207fc
removed name parameter from rviz_launch.py (#2321)
shonigmann Apr 26, 2021
fcbf60f
checking if handle is active in handle_cancel (#2304)
KavenYau Apr 30, 2021
a6974ad
Open option to use parent node in lifecycle Manger Client (#2328)
BriceRenaudeau May 3, 2021
25fe244
Validate codecov script against checksums. (#2330)
nuclearsandwich May 6, 2021
d51c1fd
Fix script error introduced in #2330 (#2335)
nuclearsandwich May 10, 2021
a5ee54a
Goal Checker selector (#2269)
pabloinigoblasco May 12, 2021
8947c9f
Use incremental timeouts in spin_until_future_calls during BT executi…
naiveHobo May 13, 2021
a2e0f55
Add action feedback information to nav2 rviz panel (#2338)
naiveHobo May 17, 2021
1ab08ce
Move CI from ROS2 master to Rolling (#2339)
ruffsl May 17, 2021
2ee5ca2
Rebuild CI images when there are dependency updates (#2344)
ruffsl May 17, 2021
2fcc2c2
Update CI to use colcon cache (#2343)
ruffsl May 18, 2021
c88f45a
Update BT nodes to use callback groups / executors to process (#2334)
BriceRenaudeau May 18, 2021
5e5d8be
Uncrustify code formatting (#2349)
ruffsl May 19, 2021
cb90912
Update invalid parameter exception handling (#2347)
jacobperron May 20, 2021
ac531a2
Replace deprecated headers (#2350)
jacobperron May 20, 2021
d92edeb
bumping galactic to 1.0.0
SteveMacenski May 20, 2021
e7f58bc
Merge branch 'main' of github.com:ros-planning/navigation2 into main
SteveMacenski May 20, 2021
b008d91
reset all goal checkers on cleanup state (#2354)
SteveMacenski May 20, 2021
4277d00
adding pytest depend for nav2-util (#2355)
SteveMacenski May 21, 2021
d65cef7
Fix nav2_gazebo_spawner not working while namespace is empty (#2357)
KavenYau May 21, 2021
577b401
Adjust CI to enable cache sharing with forked PRs (#2353)
ruffsl May 22, 2021
3c35bb2
Fix dockerhub action (#2360)
ruffsl May 23, 2021
3d66437
Fix map_saver_cli arguments not parsed well (#2362)
charlielito May 24, 2021
2a5fdcb
adding galactic build status to readme table (#2364)
SteveMacenski May 24, 2021
22407b7
removing dashing from CI table as EOL (#2365)
SteveMacenski May 24, 2021
713e47f
add missing test dependencies
SteveMacenski May 25, 2021
fa39500
adding pytest dependency for lifecycle (#2369)
SteveMacenski May 26, 2021
782991e
Trigger via env rather than on failure (#2370)
ruffsl May 26, 2021
26953c3
Update README.md
SteveMacenski May 27, 2021
ccbf662
Update trigger_dockerhub.yaml (#2371)
ruffsl May 28, 2021
c2bc550
adding missing test dependencies
SteveMacenski May 28, 2021
c009b04
Fix SEGV caused by goal_handle_ which is nullptr while result_callbac…
KavenYau May 29, 2021
237c08d
Make sure to add in necessary includes for conversions. (#2380)
clalancette Jun 1, 2021
b63b11f
Reduce CI Docker images and revert to nightly build (#2348)
ruffsl Jun 2, 2021
f23d915
Update image tag name for CI action (#2394)
ruffsl Jun 7, 2021
980f8ec
Increasing nav through poses remove point tolerance to 0.7 (#2387)
SteveMacenski Jun 8, 2021
2c9b2c9
Use fastcov to speed up coverage for CI (#2391)
ruffsl Jun 8, 2021
4400463
Update regulated_pure_pursuit_controller.cpp (#2395)
nkalupahana Jun 8, 2021
083f321
Revert CI image to build from osrf/ros2:testing (#2392)
ruffsl Jun 8, 2021
8372aa6
Clean install and test result bases for stale packages (#2399)
ruffsl Jun 9, 2021
d2cf200
Cache ccache folder in CI workspace (#2401)
ruffsl Jun 9, 2021
4486a5c
Update lockfile formating (#2402)
ruffsl Jun 9, 2021
40f4c38
Set ccache envs to use absolute paths (#2403)
ruffsl Jun 10, 2021
fa1d091
Nav2 Simple (Python3) Commander Library (#2411)
SteveMacenski Jun 18, 2021
12fa591
Improve coverage for waypoint_follower package (#2407)
Jun 18, 2021
8a6607b
Hybrid-A* optimizations and completion without on-going State Lattice…
SteveMacenski Jun 18, 2021
30c97c8
Increase timeout for servers to 100ms (#2416)
SteveMacenski Jun 18, 2021
eab8b49
Setting default groot monitoring to false (#2417)
SteveMacenski Jun 19, 2021
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349 changes: 203 additions & 146 deletions .circleci/config.yml

Large diffs are not rendered by default.

16 changes: 16 additions & 0 deletions .circleci/defaults.yaml
Original file line number Diff line number Diff line change
@@ -0,0 +1,16 @@
_common: &common
"test-result-base": "test_results"

"clean.packages":
<<: *common
"build":
<<: *common
"executor": "parallel"
"parallel-workers": 2
"symlink-install": true
"test":
<<: *common
"executor": "parallel"
"parallel-workers": 1
"test-result":
<<: *common
File renamed without changes.
Original file line number Diff line number Diff line change
@@ -1,15 +1,14 @@
#!/bin/bash
set -ex

export FROM_IMAGE=osrf/ros2:nightly
export FROM_IMAGE=osrf/ros2:testing
export FAIL_ON_BUILD_FAILURE=""
export UNDERLAY_MIXINS="release ccache"
export OVERLAY_MIXINS="debug ccache coverage-gcc"

docker build \
--target builder \
--tag ${IMAGE_NAME} \
--build-arg FROM_IMAGE \
--build-arg FAIL_ON_BUILD_FAILURE \
--build-arg UNDERLAY_MIXINS \
--build-arg OVERLAY_MIXINS \
--file ../../Dockerfile ../../.
6 changes: 3 additions & 3 deletions .dockerhub/distro.Dockerfile
Original file line number Diff line number Diff line change
Expand Up @@ -6,14 +6,14 @@
#
# Example build command:
# export DOCKER_BUILDKIT=1
# export FROM_IMAGE="ros:foxy"
# export FROM_IMAGE="ros:rolling"
# export OVERLAY_MIXINS="release ccache"
# docker build -t nav2:foxy \
# docker build -t nav2:rolling \
# --build-arg FROM_IMAGE \
# --build-arg OVERLAY_MIXINS \
# -f distro.Dockerfile ../

ARG FROM_IMAGE=ros:foxy
ARG FROM_IMAGE=ros:rolling
ARG OVERLAY_WS=/opt/overlay_ws

# multi-stage for caching
Expand Down
1 change: 0 additions & 1 deletion .dockerhub/release/Dockerfile

This file was deleted.

15 changes: 0 additions & 15 deletions .dockerhub/release/hooks/build

This file was deleted.

8 changes: 8 additions & 0 deletions .github/PULL_REQUEST_TEMPLATE.md
Original file line number Diff line number Diff line change
Expand Up @@ -35,3 +35,11 @@
* I see alot of redundancy in this package, we might want to add a function `bool XYZ()` to reduce clutter
* I tested on a differential drive robot, but there might be issues turning near corners on an omnidirectional platform
-->

#### For Maintainers: <!-- DO NOT EDIT OR REMOVE -->
- [ ] Check that any new parameters added are updated in navigation.ros.org
- [ ] Check that any significant change is added to the migration guide
- [ ] Check that any new functions have Doxygen added
- [ ] Check that any new features have test coverage
- [ ] Check that any new plugins is added to the plugins page
- [ ] If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists
52 changes: 52 additions & 0 deletions .github/workflows/trigger_dockerhub.yaml
Original file line number Diff line number Diff line change
@@ -0,0 +1,52 @@
---
name: Trigger Docker Hub

on:
schedule:
# 7am UTC, 12am PDT
- cron: '0 7 * * *'
push:
branches:
- main
paths:
- '**/package.xml'
- '**/*.repos'

jobs:
rebuild_dockerhub:
name: Trigger Docker Hub
runs-on: ubuntu-latest
container:
image: rosplanning/navigation2:main
steps:
- name: "Initialize environment"
run: |
echo "TRIGGER=false" >> $GITHUB_ENV
- name: "Check apt updates"
if: ${{ github.event_name == 'schedule' }}
env:
SOURCELIST: sources.list.d/ros2.list
run: |
apt-get update \
-o Dir::Etc::sourcelist="${SOURCELIST}"
apt-get --simulate upgrade \
-o Dir::Etc::sourcelist="${SOURCELIST}" \
| grep "0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded." \
&& echo "No apt updates" || echo "TRIGGER=true" >> $GITHUB_ENV
- name: "Check package updates"
if: ${{ github.event_name == 'push' }}
run: |
echo "TRIGGER=true" >> $GITHUB_ENV
- name: "Trigger Dockerhub URL"
if: ${{ fromJSON(env.TRIGGER) }}
env:
DATA: |
{
"source_type": "Branch",
"source_name": "main"
}
run: |
echo ${DATA} \
| curl -H "Content-Type: application/json" \
--data @- \
-X POST ${{ secrets.DOCKERHUB_TRIGGER_URL }}
4 changes: 4 additions & 0 deletions .gitignore
Original file line number Diff line number Diff line change
Expand Up @@ -46,3 +46,7 @@ __pycache__/
*.py[cod]

sphinx_doc/_build

# CLion artifacts
.idea
cmake-build-debug/
49 changes: 36 additions & 13 deletions Dockerfile
Original file line number Diff line number Diff line change
Expand Up @@ -2,11 +2,11 @@
# Build context must be the /navigation2 root folder for COPY.
# Example build command:
# export UNDERLAY_MIXINS="debug ccache"
# export OVERLAY_MIXINS="debug ccache coverage"
# export OVERLAY_MIXINS="debug ccache coverage-gcc"
# docker build -t nav2:latest \
# --build-arg UNDERLAY_MIXINS \
# --build-arg OVERLAY_MIXINS ./
ARG FROM_IMAGE=osrf/ros2:nightly
ARG FROM_IMAGE=osrf/ros2:testing
ARG UNDERLAY_WS=/opt/underlay_ws
ARG OVERLAY_WS=/opt/overlay_ws

Expand All @@ -17,8 +17,7 @@ FROM $FROM_IMAGE AS cacher
ARG UNDERLAY_WS
WORKDIR $UNDERLAY_WS/src
COPY ./tools/underlay.repos ../
RUN vcs import ./ < ../underlay.repos && \
find ./ -name ".git" | xargs rm -rf
RUN vcs import ./ < ../underlay.repos

# copy overlay source
ARG OVERLAY_WS
Expand All @@ -27,25 +26,45 @@ COPY ./ ./navigation2

# copy manifests for caching
WORKDIR /opt
RUN mkdir -p /tmp/opt && \
find ./ -name "package.xml" | \
xargs cp --parents -t /tmp/opt && \
find ./ -name "COLCON_IGNORE" | \
xargs cp --parents -t /tmp/opt || true
RUN find . -name "src" -type d \
-mindepth 1 -maxdepth 2 -printf '%P\n' \
| xargs -I % mkdir -p /tmp/opt/% && \
find . -name "package.xml" \
| xargs cp --parents -t /tmp/opt && \
find . -name "COLCON_IGNORE" \
| xargs cp --parents -t /tmp/opt || true

# multi-stage for building
FROM $FROM_IMAGE AS builder

# config dependencies install
ARG DEBIAN_FRONTEND=noninteractive
RUN echo '\
APT::Install-Recommends "0";\n\
APT::Install-Suggests "0";\n\
' > /etc/apt/apt.conf.d/01norecommend

# install CI dependencies
RUN apt-get update && apt-get install -q -y \
ARG RTI_NC_LICENSE_ACCEPTED=yes
RUN apt-get update && \
apt-get upgrade -y && \
apt-get install -y \
ccache \
lcov \
python3-pip \
ros-$ROS_DISTRO-rmw-fastrtps-cpp \
ros-$ROS_DISTRO-rmw-connextdds \
ros-$ROS_DISTRO-rmw-cyclonedds-cpp \
&& pip3 install \
fastcov \
git+https://github.com/ruffsl/colcon-cache.git@c1cedadc1ac6131fe825d075526ed4ae8e1b473c \
git+https://github.com/ruffsl/colcon-clean.git@87dee2dd1e47c2b97ac6d8300f76e3f607d19ef6 \
&& rosdep update \
&& rm -rf /var/lib/apt/lists/*

# install underlay dependencies
ARG UNDERLAY_WS
ENV UNDERLAY_WS $UNDERLAY_WS
WORKDIR $UNDERLAY_WS
COPY --from=cacher /tmp/$UNDERLAY_WS ./
RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
Expand All @@ -61,7 +80,9 @@ RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
COPY --from=cacher $UNDERLAY_WS ./
ARG UNDERLAY_MIXINS="release ccache"
ARG FAIL_ON_BUILD_FAILURE=True
ARG CCACHE_DIR=".ccache"
RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
colcon cache lock && \
colcon build \
--symlink-install \
--mixin $UNDERLAY_MIXINS \
Expand All @@ -70,30 +91,32 @@ RUN . /opt/ros/$ROS_DISTRO/setup.sh && \

# install overlay dependencies
ARG OVERLAY_WS
ENV OVERLAY_WS $OVERLAY_WS
WORKDIR $OVERLAY_WS
COPY --from=cacher /tmp/$OVERLAY_WS ./
RUN . $UNDERLAY_WS/install/setup.sh && \
apt-get update && rosdep install -q -y \
--from-paths src \
$UNDERLAY_WS/src \
--skip-keys " \
slam_toolbox \
"\
--ignore-src \
&& rm -rf /var/lib/apt/lists/*

# multi-stage for testing
FROM builder AS tester

# build overlay source
COPY --from=cacher $OVERLAY_WS ./
ARG OVERLAY_MIXINS="release ccache"
RUN . $UNDERLAY_WS/install/setup.sh && \
colcon cache lock && \
colcon build \
--symlink-install \
--mixin $OVERLAY_MIXINS \
|| ([ -z "$FAIL_ON_BUILD_FAILURE" ] || exit 1)

# source overlay from entrypoint
ENV UNDERLAY_WS $UNDERLAY_WS
ENV OVERLAY_WS $OVERLAY_WS
RUN sed --in-place \
's|^source .*|source "$OVERLAY_WS/install/setup.bash"|' \
/ros_entrypoint.sh
Expand Down
2 changes: 1 addition & 1 deletion Doxyfile
Original file line number Diff line number Diff line change
Expand Up @@ -771,7 +771,7 @@ WARN_LOGFILE =
# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING
# Note: If this tag is empty the current directory is searched.

INPUT = src
INPUT = .

# This tag can be used to specify the character encoding of the source files
# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
Expand Down
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