cleanup

.gitignore

@@ -1 +1,2 @@
 *.pgm
+maps/

cert.pem

@@ -1,29 +0,0 @@
------BEGIN CERTIFICATE-----
-MIIFCTCCAvGgAwIBAgIUSToN1sKvyyEHUX43N0x2pJ2tozYwDQYJKoZIhvcNAQEL
-BQAwFDESMBAGA1UEAwwJbG9jYWxob3N0MB4XDTIzMDgyMzE0NDgwMFoXDTI0MDgy
-MjE0NDgwMFowFDESMBAGA1UEAwwJbG9jYWxob3N0MIICIjANBgkqhkiG9w0BAQEF
-AAOCAg8AMIICCgKCAgEAuz16ToP/oe0GlHELnOxXVMbQ4ygDhAoJRDW+h3AN01QP
-GD8hKByM5QKUd1bnUa40jKeENerJLVpwvYW+wksIw8OEoU+XKLQav59LkumMx94Y
-92vhfYPEdjJGfBSemf4GALw0GmeizeglGKQAomBN2fV0Wege77T6aE3GSafzmgWk
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-1r12HGCvjDlDX3ygznsnMIIOGPd78vzpiVUlIk1MLqS4FeAMqyTFuljZ7UjG2+Yf
-p+9gJ/3vfbCiWmtwJOuZvCeXvCwUGlvJH7aFan9UKG0OCuIOBY+8ZqkbgKQ8lCNv
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-yUinlKVfBjPraK1htuZL/E0MZ1sq9YV/VbjFQnrhad1bZ+DvLRuX2Ehd8gsUt6UL
-hQW3vq7GmXo0u+xT1XIkCEYdNUGo4xXKr925MmcRVa6gR5dsAuAoQ5cN/5z4wnJt
-eNonakERtPomAC/ACTsbr3RjpG6h0jPHXta5XC+PKydV9riuk/LAIRIF0dKGfHUC
-AwEAAaNTMFEwHQYDVR0OBBYEFKL/qoyl0fc1f6VBhW5GJDpae5a7MB8GA1UdIwQY
-MBaAFKL/qoyl0fc1f6VBhW5GJDpae5a7MA8GA1UdEwEB/wQFMAMBAf8wDQYJKoZI
-hvcNAQELBQADggIBADoEzbUqOiTbTOppCRP3q+l8Z3mlymtZgz/BcyGms+8B2LMC
-xSJ88+lkg23XG8KQ+oIOHDaLBsVUePeSLLt3MAtDMbBEDUsUf2nWK+l3IbNlMxTn
-1beb/FM1QRwLfbqGvVi7afpZvLH7wJc2SCv+996eW/Hau5yDxntqupjAd1G7pDrJ
-PQMJhmWg1VQHxBC1MyMVdz8r4nqBSIKN5XMxdrZitXOa6c2b2/SvolGN6UEUD1at
-LAbS1nXloBNVuOrmTCxRxCKxec8+2qs4QOc/Ux7jF9Q65TkW1IkucnDaOluDcufY
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-e5M4nVy8YukjsM82zZRvXdD8Mlfuxb8xkpQBdqVClO24TSjZOCAw4qsizpV/N7S9
-NmQ5+2CI4l3KvhH1gAjtXvNOOicn7laXDtz5wc1fZxmUptQQp5JXFtSguLpJpGli
-r7s8wRPnVJW3HhjNIzYIzOm3J4dtl1+ZqHGfeFes+8ty2HAJK1AmnRvt8UQK3VjR
-YrlzbM6+cjzmJQ3S3LTXOi0Zssf6SQspCaAMP8hUXhZyi8y7PMNHpp/LuUEFox03
-/L8X5DB9SXofdFp+1jVh6WZCV8wt39Fxo+l+5afpeIc138XOkgvsrBFNzTi9
------END CERTIFICATE-----

husarnet.yaml

@@ -1,62 +0,0 @@
-services:
-    ### Husarnet VPN Container for remote access
-  husarnet:
-    image: husarnet/husarnet
-    restart: unless-stopped
-    volumes:
-        - /var/lib/husarnet  # This will persist your Husarnet Client keys, thus IP of the container will be stable/the same between (re)boots
-    sysctls:
-        - net.ipv6.conf.all.disable_ipv6=0  # Husarnet is using IPv6 for the internal connections
-    cap_add:
-        - NET_ADMIN
-    devices:
-        - /dev/net/tun
-    env_file:
-        - ./husarnet/.env  # create .env file in the same folder as Dockerfile and specify HOSTNAME and JOINCODE there
-
-  color_controller:
-    build:
-        dockerfile: husarnet/Dockerfile
-    volumes:
-        - ./husarnet/cyclonedds.xml:/cyclonedds.xml
-    command:
-        - bash
-        - -c
-        - |
-            export CYCLONEDDS_URI=file:///cyclonedds.xml
-            ros2 run my_demo_pkg color_controller
-    network_mode: service:husarnet
-
-  move_controller:
-    build:
-        dockerfile: husarnet/Dockerfile
-    volumes:
-        - ./husarnet/cyclonedds.xml:/cyclonedds.xml
-    command:
-        - bash
-        - -c
-        - |
-            export CYCLONEDDS_URI=file:///cyclonedds.xml
-            ros2 run my_demo_pkg move_controller
-    network_mode: service:husarnet
-
-  turtle_sim:
-    image: osrf/ros:galactic-desktop
-    privileged: true
-    environment:
-      # Allows graphical programs in the container.
-      - DISPLAY=${DISPLAY}
-      - QT_X11_NO_MITSHM=1
-      - NVIDIA_DRIVER_CAPABILITIES=all
-    volumes:
-      # Allows graphical programs in the container.
-      - /tmp/.X11-unix:/tmp/.X11-unix:rw
-      - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
-      - ./husarnet/cyclonedds.xml:/cyclonedds.xml
-    command: 
-        - bash
-        - -c
-        - |
-            export CYCLONEDDS_URI=file:///cyclonedds.xml
-            ros2 run turtlesim turtlesim_node
-    network_mode: service:husarnet  # This is the most important line in this setup. This will put the Husarnet Client in the same network namespace as your app (in this example: turtle_sim)

init_repo.sh

@@ -1,27 +0,0 @@
-#!/bin/bash
-# Basic entrypoint for ROS / Colcon Docker containers
-
-# Source ROS 2
-source /opt/ros/${ROS_DISTRO}/setup.bash
-echo "Sourced ROS 2 ${ROS_DISTRO}"
-
-# Source the base workspace, if built
-if [ -f ${UNDERLAY_WS}/install/setup.bash ]
-then
-  source ${UNDERLAY_WS}/install/setup.bash
-  #export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(ros2 pkg prefix turtlebot3_gazebo)/share/turtlebot3_gazebo/models
-  echo "Sourced Bot Mini base workspace"
-fi
-
-# Source the overlay workspace, if built
-if [ -f /overlay_ws/install/setup.bash ]
-then
-  source /overlay_ws/install/setup.bash
-  #export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(ros2 pkg prefix tb3_worlds)/share/tb3_worlds/models
-  echo "Sourced Bot Mini overlay workspace"
-fi
-
-# Copy over files
-cp -r /overlay_ws/src/* /repo/src/
-
-wait

install.sh

@@ -1,19 +0,0 @@
-#!/bin/bash
-
-# Specify the name of your Python script
-SCRIPT_NAME="robot_config.py"
-
-# Check if the script exists in the current directory
-if [ -f "$SCRIPT_NAME" ]; then
-    # Check if /usr/local/bin is writable
-    if [ -w "/usr/local/bin" ]; then
-        # Copy the script to /usr/local/bin
-        sudo cp "$SCRIPT_NAME" "/usr/local/bin"
-        sudo chmod +x "/usr/local/bin/$SCRIPT_NAME"
-        echo "Script '$SCRIPT_NAME' has been installed in /usr/local/bin."
-    else
-        echo "Error: /usr/local/bin is not writable. You may need to use 'sudo' to install the script."
-    fi
-else
-    echo "Error: Script '$SCRIPT_NAME' not found in the current directory."
-fi

key.pem

@@ -1,52 +0,0 @@
------BEGIN PRIVATE KEY-----
-MIIJQgIBADANBgkqhkiG9w0BAQEFAASCCSwwggkoAgEAAoICAQC7PXpOg/+h7QaU
-cQuc7FdUxtDjKAOECglENb6HcA3TVA8YPyEoHIzlApR3VudRrjSMp4Q16sktWnC9
-hb7CSwjDw4ShT5cotBq/n0uS6YzH3hj3a+F9g8R2MkZ8FJ6Z/gYAvDQaZ6LN6CUY
-pACiYE3Z9XRZ6B7vtPpoTcZJp/OaBaRYohcvNh3QL5/MxSd/tO1ulpwbvUPVUCvJ
-52rb+ytHpmes/3ZLJYHq8m32R0XGGJ5XTN2uaIuEpuPhAEefZl8HMF7fd4scQlzs
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-1rlcL48rJ1X2uK6T8sAhEgXR0oZ8dQIDAQABAoICABwvlX1DRpSQEzj+SXK+aykS
-YriHOfxC7IEtm/hUaGhjE4ChZDLfFWCWAlZyqRC1KijwQKlDJjSjFCybeQtTc0bQ
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-Z/Gc4SIOrj5jrt3/M9oEymP+fQnF/StlnVsRnai6hBQX9khlS3pjneLOCLJfhpt/
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-K+fy9BBR9HBzBQlx6XkrmZ9Cgje/FrpMT+2UZ5wqMMPyB7SdoXkxx0CpB3ajOost
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-O61K2Igm/AywqweBe9cWRgB7lOXwIA==
------END PRIVATE KEY-----

map_floor_save.yaml

@@ -1,7 +0,0 @@
-image: map_floor_save.pgm
-mode: trinary
-resolution: 0.05
-origin: [-13.7, -5.57, 0]
-negate: 0
-occupied_thresh: 0.65
-free_thresh: 0.25

maps/map.yaml

@@ -1,7 +0,0 @@
-image: map_floor_mainb_save_retouched.pgm
-mode: trinary
-resolution: 0.05
-origin: [-66.2, -24.5, 0]
-negate: 0
-occupied_thresh: 0.65
-free_thresh: 0.25

maps/map.yaml.bak

@@ -1,7 +0,0 @@
-image: map_floor_mainb_save.pgm
-mode: trinary
-resolution: 0.05
-origin: [-20.9, -7.03, 0]
-negate: 0
-occupied_thresh: 0.65
-free_thresh: 0.25

maps/map_floor_03-10-23.sav.yaml

@@ -1,7 +0,0 @@
-image: map_floor_03-10-23.sav.pgm
-mode: trinary
-resolution: 0.05
-origin: [-27.2, -0.0189, 0]
-negate: 0
-occupied_thresh: 0.65
-free_thresh: 0.25

maps/map_floor_mainb_save.yaml

@@ -1,7 +0,0 @@
-image: map_floor_mainb_save_retouched.pgm
-mode: trinary
-resolution: 0.05
-origin: [-20.9, -7.03, 0]
-negate: 0
-occupied_thresh: 0.65
-free_thresh: 0.25

maps/map_floor_save.yaml

@@ -1,7 +0,0 @@
-image: map_floor_save.pgm
-mode: trinary
-resolution: 0.05
-origin: [-13.7, -5.57, 0]
-negate: 0
-occupied_thresh: 0.65
-free_thresh: 0.25

maps/map_openlabday.yaml

@@ -1,7 +0,0 @@
-image: map_openlabday.pgm
-mode: trinary
-resolution: 0.05
-origin: [-13.5, -20.9, 0]
-negate: 0
-occupied_thresh: 0.65
-free_thresh: 0.25

maps/map_save_16.10..yaml

@@ -1,7 +0,0 @@
-image: map_save_16.10..pgm
-mode: trinary
-resolution: 0.05
-origin: [-25.7, -17, 0]
-negate: 0
-occupied_thresh: 0.65
-free_thresh: 0.25

robot_config.py

@@ -1,71 +0,0 @@
-#!/usr/bin/env python3
-
-import os
-import subprocess
-
-# Function to get the path to the docker-compose.yaml file
-def get_compose_file_path():
-    path = input("Enter the path to the docker-compose.yaml file (press Enter for current directory): ").strip()
-    return path if path else "docker-compose.yaml"
-
-# Initialize the path to the docker-compose.yaml file
-compose_file_path = get_compose_file_path()
-
-# Define a list to keep track of running services
-running_services = []
-
-# Function to check if a service is already running
-def is_service_running(service_name):
-    return service_name in running_services
-
-# Function to start a service
-def start_service(service_name):
-    if not is_service_running(service_name):
-        print(f"Starting {service_name}...")
-        subprocess.run(["docker", "compose", "-f", compose_file_path, "up", "-d", service_name])
-        running_services.append(service_name)
-    else:
-        print(f"{service_name} is already running.")
-
-# Function to stop a service
-def stop_service(service_name):
-    if is_service_running(service_name):
-        print(f"Stopping {service_name}...")
-        subprocess.run(["docker", "compose", "-f", compose_file_path, "down", "-v", "--remove-orphans", service_name])
-        running_services.remove(service_name)
-    else:
-        print(f"{service_name} is not running.")
-
-# Main program
-if __name__ == "__main__":
-    while True:
-        print("Options:")
-        print("1. Start Controller, Teleop, RSP, Lidar")
-        print("2. Start AMCL and Navigation")
-        print("3. Start Mapping and Navigation")
-        print("4. Stop AMCL and Mapping")
-        print("5. Change docker-compose.yaml file path")
-        print("6. Quit")
-
-        choice = input("Enter your choice: ")
-
-        if choice == "1":
-            start_service("controller")
-            start_service("teleop")
-            start_service("rsp")
-            start_service("lidar")
-        elif choice == "2":
-            start_service("amcl")
-            start_service("navigation")
-        elif choice == "3":
-            start_service("mapping")
-            start_service("navigation")
-        elif choice == "4":
-            stop_service("amcl")
-            stop_service("mapping")
-        elif choice == "5":
-            compose_file_path = get_compose_file_path()
-        elif choice == "6":
-            break
-        else:
-            print("Invalid choice. Please try again.")

rviz2.yaml

@@ -1,70 +0,0 @@
-networks:
-  pc: # config for this pc. Only required for running the containers locally on the pc. For instance rviz2 or guis with gazebo.
-    driver: macvlan
-    driver_opts:
-      parent: wlx00e04c5513fc # pc network interface: here my wifi card. Can be found with ifconfig.
-    ipam:
-      config:
-          - subnet: 192.168.0.0/24
-            gateway: 192.168.0.1
-            ip_range: 192.168.0.200/25
-            aux_addresses:
-              net-address: 192.168.0.100 #? what is this for --> to exclude addresses from buing used.
-
-services:
-   # rviz2
-  rviz2:
-    image: ghcr.io/bjoernellens1/ros2_rmp/rmp:guis
-    # command: >
-    #   ros2 launch cps_rmp220_support robot_rviz2.launch.py
-    command: >
-      ros2 launch cps_rmp220_support rviz.launch.py
-    # Interactive shell
-    stdin_open: true
-    tty: true
-    # Networking and IPC for ROS 2
-    network_mode: host
-    ipc: host
-    # Needed to display graphical applications
-    privileged: true
-    environment:
-      # Allows graphical programs in the container.
-      - DISPLAY=${DISPLAY}
-      - QT_X11_NO_MITSHM=1
-      - NVIDIA_DRIVER_CAPABILITIES=all
-      - ROS_DOMAIN_ID=5
-      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-    volumes:
-      # Allows graphical programs in the container.
-      - /tmp/.X11-unix:/tmp/.X11-unix:rw
-      - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
-    # networks: # not using bridging anymore, instead try using all services on macvlan? let's see... shoudl word for now. Bridging does definitely not work because multicast is not supported here.
-    #   pc:
-    #     ipv4_address: 192.168.0.201 #here need to set fixed ip to avoid collissions with other containers on robot.
-
-  rviz2-depthai:
-    image: luxonis/depthai-ros:humble-latest
-    command: >
-      ros2 launch cps_rmp220_support rviz.launch.py
-    # Interactive shell
-    stdin_open: true
-    tty: true
-    # Networking and IPC for ROS 2
-    network_mode: host
-    ipc: host
-    # Needed to display graphical applications
-    privileged: true
-    environment:
-      # Allows graphical programs in the container.
-      - DISPLAY=${DISPLAY}
-      - QT_X11_NO_MITSHM=1
-      - NVIDIA_DRIVER_CAPABILITIES=all
-      - ROS_DOMAIN_ID=5
-      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-    volumes:
-      # Allows graphical programs in the container.
-      - /tmp/.X11-unix:/tmp/.X11-unix:rw
-      - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
-    # networks: # not using bridging anymore, instead try using all services on macvlan? let's see... shoudl word for now. Bridging does definitely not work because multicast is not supported here.
-    #   pc:
-    #     ipv4_address: 192.168.0.201 #here need to set fixed ip to avoid collissions with other containers on robot.

slim.report.json

@@ -1,47 +0,0 @@
-{
-  "version": "1.1",
-  "engine": "linux|Transformer|1.40.6|1.40.6|latest",
-  "containerized": false,
-  "host_distro": {
-    "name": "NixOS",
-    "version": "23.11",
-    "display_name": "NixOS 23.11 (Tapir)"
-  },
-  "type": "build",
-  "state": "error",
-  "target_reference": "ubuntu",
-  "system": {
-    "type": "",
-    "release": "",
-    "distro": {
-      "name": "",
-      "version": "",
-      "display_name": ""
-    }
-  },
-  "source_image": {
-    "identity": {
-      "id": ""
-    },
-    "size": 0,
-    "size_human": "",
-    "create_time": "",
-    "docker_version": "",
-    "architecture": "",
-    "container_entry": {
-      "exe_path": ""
-    }
-  },
-  "minified_image_size": 0,
-  "minified_image_size_human": "",
-  "minified_image": "",
-  "minified_image_has_data": false,
-  "minified_by": 0,
-  "artifact_location": "",
-  "container_report_name": "",
-  "seccomp_profile_name": "",
-  "apparmor_profile_name": "",
-  "image_stack": null,
-  "image_created": false,
-  "image_build_engine": ""
-}

stack_manager.py

@@ -1,52 +0,0 @@
-#!/usr/bin/env python3
-
-import subprocess
-
-# Define the stacks
-stack1 = ["controller", "teleop", "rsp", "lidar"]
-stack2 = stack1 + ["mapping", "navigation"]
-stack3 = stack1 + ["amcl", "navigation"]
-
-# Function to start a stack
-def start_stack(stack):
-    print(f"Starting {', '.join(stack)}...")
-    subprocess.run(["docker", "compose", "up", "-d"] + stack)
-
-# Function to stop a stack
-def stop_stack(stack):
-    print(f"Stopping {', '.join(stack)}...")
-    subprocess.run(["docker", "compose", "down", "-v", "--remove-orphans"] + stack)
-
-# Main program
-if __name__ == "__main__":
-    while True:
-        print("Options:")
-        print("1. Start Stack 1")
-        print("2. Start Stack 2")
-        print("3. Start Stack 3")
-        print("4. Stop Stack 1")
-        print("5. Stop Stack 2")
-        print("6. Stop Stack 3")
-        print("7. Quit")
-
-        choice = input("Enter your choice: ")
-
-        if choice == "1":
-            stop_stack(stack2 + stack3)  # Stop stack2 and stack3 to avoid interference
-            start_stack(stack1)
-        elif choice == "2":
-            stop_stack(stack1 + stack3)  # Stop stack1 and stack3 to avoid interference
-            start_stack(stack2)
-        elif choice == "3":
-            stop_stack(stack1 + stack2)  # Stop stack1 and stack2 to avoid interference
-            start_stack(stack3)
-        elif choice == "4":
-            stop_stack(stack1)
-        elif choice == "5":
-            stop_stack(stack2)
-        elif choice == "6":
-            stop_stack(stack3)
-        elif choice == "7":
-            break
-        else:
-            print("Invalid choice. Please try again.")

start_mapping.sh

@@ -1 +0,0 @@
-docker compose up -d controller teleop rsp lidar mapping navigation

start_navigation.sh

@@ -1 +0,0 @@
-docker compose up -d controller teleop rsp lidar amcl navigation

start_robot.sh

@@ -1 +0,0 @@
-docker compose up -d controller teleop rsp lidar

test.rviz

@@ -1,133 +0,0 @@
-Panels:
-  - Class: rviz_common/Displays
-    Help Height: 85
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /Global Options1
-        - /Status1
-      Splitter Ratio: 0.5
-    Tree Height: 528
-  - Class: rviz_common/Selection
-    Name: Selection
-  - Class: rviz_common/Tool Properties
-    Expanded:
-      - /2D Goal Pose1
-      - /Publish Point1
-    Name: Tool Properties
-    Splitter Ratio: 0.5886790156364441
-  - Class: rviz_common/Views
-    Expanded:
-      - /Current View1
-    Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz_common/Time
-    Experimental: false
-    Name: Time
-    SyncMode: 0
-    SyncSource: ""
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Alpha: 0.5
-      Cell Size: 1
-      Class: rviz_default_plugins/Grid
-      Color: 160; 160; 164
-      Enabled: true
-      Line Style:
-        Line Width: 0.029999999329447746
-        Value: Lines
-      Name: Grid
-      Normal Cell Count: 0
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Plane: XY
-      Plane Cell Count: 10
-      Reference Frame: <Fixed Frame>
-      Value: true
-  Enabled: true
-  Global Options:
-    Background Color: 48; 48; 48
-    Fixed Frame: map
-    Frame Rate: 30
-  Name: root
-  Tools:
-    - Class: rviz_default_plugins/Interact
-      Hide Inactive Objects: true
-    - Class: rviz_default_plugins/MoveCamera
-    - Class: rviz_default_plugins/Select
-    - Class: rviz_default_plugins/FocusCamera
-    - Class: rviz_default_plugins/Measure
-      Line color: 128; 128; 0
-    - Class: rviz_default_plugins/SetInitialPose
-      Covariance x: 0.25
-      Covariance y: 0.25
-      Covariance yaw: 0.06853891909122467
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /initialpose
-    - Class: rviz_default_plugins/SetGoal
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /goal_pose
-    - Class: rviz_default_plugins/PublishPoint
-      Single click: true
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /clicked_point
-  Transformation:
-    Current:
-      Class: rviz_default_plugins/TF
-  Value: true
-  Views:
-    Current:
-      Class: rviz_default_plugins/Orbit
-      Distance: 10
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.05999999865889549
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Focal Point:
-        X: 0
-        Y: 0
-        Z: 0
-      Focal Shape Fixed Size: true
-      Focal Shape Size: 0.05000000074505806
-      Invert Z Axis: false
-      Name: Current View
-      Near Clip Distance: 0.009999999776482582
-      Pitch: 0.785398006439209
-      Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
-      Yaw: 0.785398006439209
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: false
-  Height: 845
-  Hide Left Dock: false
-  Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000015a000002a6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006b00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000044000002a6000000eb00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002a6fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000044000002a6000000b900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004af0000003efc0100000002fb0000000800540069006d00650100000000000004af000002d200fffffffb0000000800540069006d0065010000000000000450000000000000000000000238000002a600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-  Selection:
-    collapsed: false
-  Time:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
-    collapsed: false
-  Width: 1199
-  X: 199
-  Y: 115