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Merge branch 'master' into fix/concealer-7/transition
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‎.github/workflows/custom_spell.json

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"xerces",
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"xercesc",
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"Szymon",
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"Parapura"
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"Parapura",
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"libagnocast",
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"agnocast"
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]
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}

‎common/agnocast_wrapper/CHANGELOG.rst

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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package agnocast_wrapper
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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16.3.0 (2025-04-25)
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-------------------
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* Merge pull request `#1569 <https://github.com/tier4/scenario_simulator_v2/issues/1569>`_ from tier4/feature/agnocast
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* chore: fill package description
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* chore: update agnocast_wrapper package version manually to pass the CI
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* fix(agnocast_wrapper): fix package.xml
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* fix(agnocast_wrapper): fix changelog
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* fix(agnocast_wrapper): add EOF to changelog
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* fix(agnocast_wrapper): set package version
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* feat(agnocast): allow agnocast_wrapper to be built without agnocastlib, fix changelog
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* feat(agnocast_wrapper): ad CHANGELOG
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* fix(agnocast_wrapper): fix uncrustify
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* fix(agnocast): fix unit-test after agnocast support
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* feat(simple_sensor_simulator, agnocast_wrapper): improve agnocast
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* Fix copyright comment
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* Add missing includes and format code
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* Add NOLINT to URL
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* Add copyright to cmake function
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* Added environment variable to change building with or without Agnocast
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The mechanism is similar to this one: https://github.com/veqcc/autoware.universe/tree/252ae60788a8388585780a6b1935a5682c688464
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* Implement agnocast_wrapper package
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It provides type and function aliases which implementation changes between ROS and Agnocast based on a compile definitions
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* Contributors: Dawid Moszynski, Kotaro Yoshimoto, Mateusz Palczuk
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16.1.3 (2025-04-21)
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-------------------

‎common/agnocast_wrapper/CMakeLists.txt

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cmake_minimum_required(VERSION 3.5)
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project(agnocast_wrapper)
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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find_package(ament_cmake_auto REQUIRED)
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if(DEFINED ENV{ENABLE_AGNOCAST_SIMULATOR} AND "$ENV{ENABLE_AGNOCAST_SIMULATOR}" STREQUAL "1")
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message(WARNING "Building with agnocastlib dependency")
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find_package(agnocastlib REQUIRED)
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else()
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message(WARNING "Building without agnocastlib dependency")
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endif()
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ament_auto_find_build_dependencies()
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_auto_package(CONFIG_EXTRAS "cmake/agnocast_wrapper_setup_target.cmake")

‎common/agnocast_wrapper/cmake/agnocast_wrapper_setup_target.cmake

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# Copyright 2015 TIER IV, Inc. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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function(agnocast_wrapper_setup target)
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if(DEFINED ENV{ENABLE_AGNOCAST_SIMULATOR} AND "$ENV{ENABLE_AGNOCAST_SIMULATOR}" STREQUAL "1")
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message(WARNING "agnocast_wrapper_setup: Defining USE_AGNOCAST_ENABLED for target ${target}")
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target_compile_definitions(${target} PRIVATE USE_AGNOCAST_ENABLED)
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else()
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message(WARNING "agnocast_wrapper_setup: Not defining USE_AGNOCAST_ENABLED for target ${target}")
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endif()
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endfunction()

‎common/agnocast_wrapper/include/agnocast_wrapper/agnocast_wrapper.hpp

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// Copyright 2015 TIER IV, Inc. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef AGNOCAST_WRAPPER__AGNOCAST_WRAPPER_HPP_
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#define AGNOCAST_WRAPPER__AGNOCAST_WRAPPER_HPP_
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#include <string>
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#include <utility>
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/// @sa https://github.com/veqcc/autoware.universe/blob/252ae60788a8388585780a6b1935a5682c688464/common/autoware_agnocast_wrapper/include/autoware_agnocast_wrapper/autoware_agnocast_wrapper.hpp
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#ifdef USE_AGNOCAST_ENABLED
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#pragma message("Building with USE_AGNOCAST_ENABLED defined")
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#else
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#pragma message("Building without USE_AGNOCAST_ENABLED defined")
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#endif
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#ifdef USE_AGNOCAST_ENABLED
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#include <agnocast/agnocast.hpp>
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#else
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#include <memory>
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#include <rclcpp/rclcpp.hpp>
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#endif // USE_AGNOCAST_ENABLED
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namespace agnocast_wrapper
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{
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/**
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* @brief Templated types
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*/
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#ifdef USE_AGNOCAST_ENABLED
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template<typename MessageT>
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using MessagePtr = agnocast::ipc_shared_ptr<MessageT>;
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template<typename MessageT>
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using SubscriptionPtr = typename agnocast::Subscription<MessageT>::SharedPtr;
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template<typename MessageT>
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using PublisherPtr = typename agnocast::Publisher<MessageT>::SharedPtr;
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using SubscriptionOptions = agnocast::SubscriptionOptions;
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using PublisherOptions = agnocast::PublisherOptions;
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#else
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template<typename MessageT>
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using MessagePtr = std::shared_ptr<MessageT>;
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template<typename MessageT>
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using SubscriptionPtr = typename rclcpp::Subscription<MessageT>::SharedPtr;
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template<typename MessageT>
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using PublisherPtr = typename rclcpp::Publisher<MessageT>::SharedPtr;
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using SubscriptionOptions = rclcpp::SubscriptionOptions;
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using PublisherOptions = rclcpp::PublisherOptions;
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#endif // USE_AGNOCAST_ENABLED
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/**
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* @brief Create subscription
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*/
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template<typename MessageT, typename CallbackT, typename NodeT>
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auto create_subscription(
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NodeT & node, const std::string & topic_name, const rclcpp::QoS & qos, CallbackT && callback,
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const SubscriptionOptions & options = SubscriptionOptions{}) -> SubscriptionPtr<MessageT>
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{
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#ifdef USE_AGNOCAST_ENABLED
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if constexpr (std::is_same_v<std::decay_t<NodeT>, rclcpp::Node::SharedPtr>) {
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return agnocast::create_subscription<MessageT>(
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node.get(), topic_name, qos, std::forward<CallbackT>(callback), options);
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} else {
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return agnocast::create_subscription<MessageT>(
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&node, topic_name, qos, std::forward<CallbackT>(callback), options);
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}
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#else
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if constexpr (std::is_same_v<std::decay_t<NodeT>, rclcpp::Node::SharedPtr>) {
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return node->template create_subscription<MessageT>(
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topic_name, qos, std::forward<CallbackT>(callback), options);
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} else {
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return node.template create_subscription<MessageT>(
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topic_name, qos, std::forward<CallbackT>(callback), options);
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}
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#endif // USE_AGNOCAST_ENABLED
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}
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/**
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* @brief Create publisher
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*/
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template<typename MessageT, typename NodeT>
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auto create_publisher(
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NodeT & node, const std::string & topic_name, const rclcpp::QoS & qos,
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const PublisherOptions & options = PublisherOptions{}) -> PublisherPtr<MessageT>
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{
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#ifdef USE_AGNOCAST_ENABLED
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if constexpr (std::is_same_v<std::decay_t<NodeT>, rclcpp::Node::SharedPtr>) {
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return agnocast::create_publisher<MessageT>(node.get(), topic_name, qos, options);
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} else {
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return agnocast::create_publisher<MessageT>(&node, topic_name, qos, options);
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}
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#else
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if constexpr (std::is_same_v<std::decay_t<NodeT>, rclcpp::Node::SharedPtr>) {
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return node->template create_publisher<MessageT>(topic_name, qos, options);
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} else {
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return node.template create_publisher<MessageT>(topic_name, qos, options);
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}
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#endif // USE_AGNOCAST_ENABLED
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}
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/**
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* @brief Create message object pointer
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* @param publisher_ptr pointer to the publisher for which the message will be
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* created. The message type will be deduced from the passed publisher.
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* @return pointer to the message - dependent on the publisher type
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*/
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template<typename PublisherPtrT>
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auto create_message(PublisherPtrT publisher_ptr)
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{
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#ifdef USE_AGNOCAST_ENABLED
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return publisher_ptr->borrow_loaned_message();
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#else
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using ROSMessageT =
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typename std::remove_reference<decltype(*publisher_ptr)>::type::ROSMessageType;
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return std::make_unique<ROSMessageT>();
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#endif // USE_AGNOCAST_ENABLED
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}
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} // namespace agnocast_wrapper
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#endif // AGNOCAST_WRAPPER__AGNOCAST_WRAPPER_HPP_

‎common/agnocast_wrapper/package.xml

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>agnocast_wrapper</name>
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<version>16.3.0</version>
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<description>A wrapper package for agnocast</description>
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<maintainer email="[email protected]">Mateusz Palczuk</maintainer>
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<license>Apache License 2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<buildtool_depend>ament_cmake_auto</buildtool_depend>
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<depend>rclcpp</depend>
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<!-- <depend>agnocastlib</depend> agnocastlib is an optional dependency only required when USE_AGNOCAST_ENABLED is defined, therefore must be ignored here -->
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎common/get_parameter/CHANGELOG.rst

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Changelog for package get_parameter
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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16.3.0 (2025-04-25)
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-------------------
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* Merge branch 'master' into feature/agnocast
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* Merge branch 'master' into feature/agnocast
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* Revert "Revert "Merge branch 'master' into feature/agnocast""
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This reverts commit b54960a3492c52964556d54d5943c00cdfa10f50.
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* Revert "Merge branch 'master' into feature/agnocast"
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This reverts commit a01992c8e365edd59a52d918cccfec61885234f2, reversing
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changes made to 7f892377f23e4a7bfec460cbfa9f7cdd1b644806.
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* Merge branch 'master' into feature/agnocast
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* Merge branch 'master' into feature/agnocast
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* Merge branch 'master' into feature/agnocast
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* Contributors: Dawid Moszynski, Dawid Moszyński, Kotaro Yoshimoto, Mateusz Palczuk
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16.2.0 (2025-04-24)
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-------------------
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‎common/get_parameter/package.xml

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>get_parameter</name>
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<version>16.2.0</version>
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<version>16.3.0</version>
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<description>Thin wrapper for rclcpp::Node::get_parameter</description>
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<maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
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<license>Apache License 2.0</license>

‎common/math/arithmetic/CHANGELOG.rst

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* Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
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* Contributors: Masaya Kataoka
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16.3.0 (2025-04-25)
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-------------------
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* Merge branch 'master' into feature/agnocast
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* Merge branch 'master' into feature/agnocast
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* Revert "Revert "Merge branch 'master' into feature/agnocast""
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This reverts commit b54960a3492c52964556d54d5943c00cdfa10f50.
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* Revert "Merge branch 'master' into feature/agnocast"
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This reverts commit a01992c8e365edd59a52d918cccfec61885234f2, reversing
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changes made to 7f892377f23e4a7bfec460cbfa9f7cdd1b644806.
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* Merge branch 'master' into feature/agnocast
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* Merge branch 'master' into feature/agnocast
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* Merge branch 'master' into feature/agnocast
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* Contributors: Dawid Moszynski, Dawid Moszyński, Kotaro Yoshimoto, Mateusz Palczuk
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-------------------
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‎common/math/arithmetic/package.xml

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>arithmetic</name>
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<version>16.2.0</version>
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<version>16.3.0</version>
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<description>arithmetic library for scenario_simulator_v2</description>
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<maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
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<license>Apache License 2.0</license>

‎common/math/geometry/CHANGELOG.rst

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* Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
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* Contributors: Masaya Kataoka
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16.3.0 (2025-04-25)
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-------------------
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* Merge branch 'master' into feature/agnocast
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* Merge branch 'master' into feature/agnocast
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* Revert "Revert "Merge branch 'master' into feature/agnocast""
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This reverts commit b54960a3492c52964556d54d5943c00cdfa10f50.
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* Revert "Merge branch 'master' into feature/agnocast"
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This reverts commit a01992c8e365edd59a52d918cccfec61885234f2, reversing
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changes made to 7f892377f23e4a7bfec460cbfa9f7cdd1b644806.
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* Merge branch 'master' into feature/agnocast
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* Merge branch 'master' into feature/agnocast
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* Merge branch 'master' into feature/agnocast
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* Contributors: Dawid Moszynski, Dawid Moszyński, Kotaro Yoshimoto, Mateusz Palczuk
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-------------------
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‎common/math/geometry/package.xml

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>geometry</name>
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<version>16.2.0</version>
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<version>16.3.0</version>
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<description>geometry math library for scenario_simulator_v2 application</description>
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<maintainer email="[email protected]">Masaya Kataoka</maintainer>
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<license>Apache License 2.0</license>

‎common/scenario_simulator_exception/CHANGELOG.rst

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* Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
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* Contributors: Masaya Kataoka
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16.3.0 (2025-04-25)
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-------------------
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* Merge branch 'master' into feature/agnocast
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* Merge branch 'master' into feature/agnocast
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* Revert "Revert "Merge branch 'master' into feature/agnocast""
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This reverts commit b54960a3492c52964556d54d5943c00cdfa10f50.
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* Revert "Merge branch 'master' into feature/agnocast"
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This reverts commit a01992c8e365edd59a52d918cccfec61885234f2, reversing
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changes made to 7f892377f23e4a7bfec460cbfa9f7cdd1b644806.
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* Merge branch 'master' into feature/agnocast
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* Merge branch 'master' into feature/agnocast
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* Merge branch 'master' into feature/agnocast
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* Contributors: Dawid Moszynski, Dawid Moszyński, Kotaro Yoshimoto, Mateusz Palczuk
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‎common/scenario_simulator_exception/package.xml

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>scenario_simulator_exception</name>
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<version>16.2.0</version>
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<version>16.3.0</version>
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<description>Exception types for scenario simulator</description>
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<maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
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<license>Apache License 2.0</license>

‎common/simple_junit/CHANGELOG.rst

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* Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
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* Contributors: Masaya Kataoka
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16.3.0 (2025-04-25)
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-------------------
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* Merge branch 'master' into feature/agnocast
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* Merge branch 'master' into feature/agnocast
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* Revert "Revert "Merge branch 'master' into feature/agnocast""
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This reverts commit b54960a3492c52964556d54d5943c00cdfa10f50.
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* Revert "Merge branch 'master' into feature/agnocast"
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This reverts commit a01992c8e365edd59a52d918cccfec61885234f2, reversing
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changes made to 7f892377f23e4a7bfec460cbfa9f7cdd1b644806.
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* Merge branch 'master' into feature/agnocast
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* Merge branch 'master' into feature/agnocast
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* Merge branch 'master' into feature/agnocast
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* Contributors: Dawid Moszynski, Dawid Moszyński, Kotaro Yoshimoto, Mateusz Palczuk
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16.2.0 (2025-04-24)
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-------------------
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