├── .github └── workflows │ ├── build-natives.yml │ └── run-gradle-test-all-platforms.yml ├── .gitignore ├── .gitmodules ├── LICENSE.txt ├── README.md ├── cppbuild.bash ├── docs └── Making a release.md ├── eprosima-idl-parser ├── .gitignore ├── build.gradle.kts ├── gradle.properties ├── settings.gradle.kts └── src │ └── main │ ├── antlr4 │ └── omg │ │ └── IDL.g4 │ ├── generated-java │ └── com │ │ └── eprosima │ │ └── idl │ │ └── parser │ │ └── grammar │ │ ├── IDL.tokens │ │ ├── IDLLexer.java │ │ ├── IDLLexer.tokens │ │ └── IDLParser.java │ └── java │ └── com │ └── eprosima │ ├── idl │ ├── context │ │ └── Context.java │ ├── generator │ │ └── manager │ │ │ ├── TemplateExtension.java │ │ │ ├── TemplateGroup.java │ │ │ ├── TemplateManager.java │ │ │ └── TemplateUtil.java │ ├── parser │ │ ├── exception │ │ │ └── ParseException.java │ │ ├── listener │ │ │ └── DefaultErrorListener.java │ │ ├── strategy │ │ │ └── DefaultErrorStrategy.java │ │ ├── tree │ │ │ ├── Annotation.java │ │ │ ├── AnnotationDeclaration.java │ │ │ ├── AnnotationMember.java │ │ │ ├── ConstDeclaration.java │ │ │ ├── Definition.java │ │ │ ├── DefinitionContainer.java │ │ │ ├── Exception.java │ │ │ ├── Export.java │ │ │ ├── ExportContainer.java │ │ │ ├── Interface.java │ │ │ ├── Module.java │ │ │ ├── Notebook.java │ │ │ ├── Operation.java │ │ │ ├── Param.java │ │ │ ├── Specification.java │ │ │ ├── TreeNode.java │ │ │ └── TypeDeclaration.java │ │ └── typecode │ │ │ ├── AliasTypeCode.java │ │ │ ├── ArrayTypeCode.java │ │ │ ├── ContainerTypeCode.java │ │ │ ├── EnumMember.java │ │ │ ├── EnumTypeCode.java │ │ │ ├── MapTypeCode.java │ │ │ ├── Member.java │ │ │ ├── MemberedTypeCode.java │ │ │ ├── PrimitiveTypeCode.java │ │ │ ├── SequenceTypeCode.java │ │ │ ├── SetTypeCode.java │ │ │ ├── StringTypeCode.java │ │ │ ├── StructTypeCode.java │ │ │ ├── TypeCode.java │ │ │ ├── UnionMember.java │ │ │ └── UnionTypeCode.java │ ├── templates │ │ ├── JavaTypes.stg │ │ ├── Types.stg │ │ └── idlTypes.stg │ └── util │ │ ├── Pair.java │ │ └── Util.java │ ├── log │ ├── ColorMessage.java │ └── Log.java │ └── solution │ ├── GUIDGenerator.java │ ├── Project.java │ └── Solution.java ├── gradle.properties ├── group.gradle.properties ├── ihmc-pub-sub-generator ├── build.gradle.kts ├── gradle.properties ├── settings.gradle.kts ├── src │ ├── main │ │ ├── java │ │ │ └── us │ │ │ │ └── ihmc │ │ │ │ └── idl │ │ │ │ └── generator │ │ │ │ ├── AbstractStructTypeCode.java │ │ │ │ ├── AbstractTypeDeclaration.java │ │ │ │ ├── Context.java │ │ │ │ ├── IDLContext.java │ │ │ │ ├── IDLGenerator.java │ │ │ │ ├── IDLGeneratorTask.java │ │ │ │ ├── PreprocessorFilter.java │ │ │ │ ├── StructTypeCode.java │ │ │ │ └── TypesGenerator.java │ │ └── templates │ │ │ └── us │ │ │ └── ihmc │ │ │ └── idl │ │ │ └── templates │ │ │ ├── Common.stg │ │ │ ├── FastCdrCommon.stg │ │ │ ├── JavaPubSubType.stg │ │ │ ├── JavaType.stg │ │ │ ├── JavaTypes.stg │ │ │ ├── Types.stg │ │ │ └── idlTypes.stg │ └── test │ │ ├── generated-java │ │ └── us │ │ │ └── ihmc │ │ │ └── idl │ │ │ └── generated │ │ │ ├── chat │ │ │ ├── ChatMessage.java │ │ │ └── ChatMessagePubSubType.java │ │ │ ├── geometry │ │ │ ├── Box.java │ │ │ ├── BoxPubSubType.java │ │ │ ├── Polygon.java │ │ │ ├── PolygonPubSubType.java │ │ │ ├── Triangle.java │ │ │ ├── TrianglePubSubType.java │ │ │ ├── Vector.java │ │ │ └── VectorPubSubType.java │ │ │ ├── nested │ │ │ ├── NestedElement.java │ │ │ └── NestedElementPubSubType.java │ │ │ └── test │ │ │ ├── BigMessage.java │ │ │ ├── BigMessagePubSubType.java │ │ │ ├── Color.java │ │ │ ├── FooAppearanceDefinitionMessage.java │ │ │ ├── FooAppearanceDefinitionMessagePubSubType.java │ │ │ ├── FooEnumType.java │ │ │ ├── FooEnumTypePubSubType.java │ │ │ ├── FooGraphicObjectMessage.java │ │ │ ├── FooGraphicObjectMessagePubSubType.java │ │ │ ├── FooHandshake.java │ │ │ ├── FooHandshakePubSubType.java │ │ │ ├── FooJointDefinition.java │ │ │ ├── FooJointDefinitionPubSubType.java │ │ │ ├── FooJointType.java │ │ │ ├── FooLoadStatus.java │ │ │ ├── FooSummary.java │ │ │ ├── FooSummaryPubSubType.java │ │ │ ├── FooYoRegistryDefinition.java │ │ │ ├── FooYoRegistryDefinitionPubSubType.java │ │ │ ├── FooYoType.java │ │ │ ├── FooYoVariableDefinition.java │ │ │ ├── FooYoVariableDefinitionPubSubType.java │ │ │ ├── IDLElementTest.java │ │ │ ├── IDLElementTestPubSubType.java │ │ │ ├── IDLFeatureMessage.java │ │ │ ├── IDLFeatureMessagePubSubType.java │ │ │ ├── IDLSubmessage.java │ │ │ ├── IDLSubmessagePubSubType.java │ │ │ ├── StatusMessage.java │ │ │ └── StatusMessagePubSubType.java │ │ ├── idl │ │ ├── BigMessage.idl │ │ ├── ChatMessage.idl │ │ ├── FooHandshake.idl │ │ ├── IDLElementTest.idl │ │ ├── IDLFeatureMessage.idl │ │ ├── IDLSubmessage.idl │ │ ├── NestedElement.idl │ │ ├── StatusMessage.idl │ │ └── Vector.idl │ │ └── java │ │ └── us │ │ └── ihmc │ │ └── pubsub │ │ ├── examples │ │ ├── EndpointDiscoveryProtocolListenerExample.java │ │ ├── GenerateTestMessages.java │ │ ├── PublisherExample.java │ │ └── SubscriberExample.java │ │ ├── test │ │ ├── AggressivePublisher.java │ │ ├── ChatMessageTest.java │ │ ├── CreateSubscriptionUnderLoad.java │ │ ├── HandshakeTest.java │ │ ├── IDLElementTestCPPData.java │ │ ├── IDLElementTestTest.java │ │ ├── MessageCopyTest.java │ │ ├── MessageEqualsTest.java │ │ ├── MultipleParticipantsInSameProcessTest.java │ │ ├── PublishSubscribeUInt64AllocationTest.java │ │ ├── PublishSubscribeUInt64SharedMemoryTest.java │ │ ├── PublishSubscribeUInt64Test.java │ │ ├── PublisherSubscriberMatchTest.java │ │ └── TypesOverNetworkTest.java │ │ └── tools │ │ ├── MessageCallback.java │ │ ├── ParticipantListenerImpl.java │ │ ├── PubSubTester.java │ │ ├── PublishSubscribeTools.java │ │ ├── PublisherListenerImpl.java │ │ └── SubscriberListenerImpl.java └── testIDLGeneratorChecksum.sh ├── ihmc-pub-sub-serializers-extra ├── .gitignore ├── build.gradle.kts ├── gradle.properties ├── settings.gradle.kts └── src │ ├── main │ └── java │ │ └── us │ │ └── ihmc │ │ └── idl │ │ └── serializers │ │ └── extra │ │ ├── AbstractSerializer.java │ │ ├── BSONSerializer.java │ │ ├── CustomDeserializationHandler.java │ │ ├── JSONSerializer.java │ │ ├── JacksonInterchangeSerializer.java │ │ ├── PropertiesSerializer.java │ │ ├── UnsupportedFeatureException.java │ │ ├── XMLSerializer.java │ │ └── YAMLSerializer.java │ └── test │ ├── java │ └── us │ │ └── ihmc │ │ └── idl │ │ └── serializers │ │ └── extra │ │ ├── BSONSerializerTest.java │ │ ├── JSONSerializerTest.java │ │ ├── PropertiesSerializerTest.java │ │ ├── XMLSerializerTest.java │ │ └── YAMLSerializerTest.java │ └── resources │ └── us │ └── ihmc │ └── idl │ └── serializers │ └── extra │ └── IDLElementTest.incomplete.json ├── ihmc-pub-sub ├── .gitignore ├── CMakeLists.txt ├── README.md ├── build.gradle.kts ├── cppsrc │ ├── FastRTPS │ │ ├── CMakeLists.txt │ │ ├── commonfunctions.h │ │ ├── fastrtpsexception.h │ │ ├── loglevel.cpp │ │ ├── loglevel.h │ │ ├── nativeparticipantimpl.cpp │ │ ├── nativeparticipantimpl.h │ │ ├── nativepublisherimpl.cpp │ │ ├── nativepublisherimpl.h │ │ ├── nativesubscriberimpl.cpp │ │ ├── nativesubscriberimpl.h │ │ ├── rawtopicdatatype.cpp │ │ ├── rawtopicdatatype.h │ │ └── sampleinfomarshaller.h │ └── test │ │ ├── CMakeLists.txt │ │ ├── IDLElementTest.cxx │ │ ├── IDLElementTest.h │ │ ├── IDLElementTestPubSubTypes.cxx │ │ ├── IDLElementTestPubSubTypes.h │ │ ├── NestedElement.cxx │ │ ├── NestedElement.h │ │ ├── NestedElementPubSubTypes.cxx │ │ ├── NestedElementPubSubTypes.h │ │ └── idlelementserializetest.cpp ├── gradle.properties ├── linux-aarch64-toolchain.cmake ├── macos-aarch64-toolchain.cmake ├── package.xml ├── patches │ └── fastRTPS_profiles.patch ├── settings.gradle.kts ├── src │ ├── main │ │ ├── java │ │ │ └── us │ │ │ │ └── ihmc │ │ │ │ ├── communication │ │ │ │ ├── packets │ │ │ │ │ └── Packet.java │ │ │ │ └── ros │ │ │ │ │ └── generators │ │ │ │ │ ├── RosExportedField.java │ │ │ │ │ ├── RosIgnoredField.java │ │ │ │ │ └── RosMessagePacket.java │ │ │ │ ├── idl │ │ │ │ ├── CDR.java │ │ │ │ ├── IDLSequence.java │ │ │ │ ├── IDLTools.java │ │ │ │ └── InterchangeSerializer.java │ │ │ │ └── pubsub │ │ │ │ ├── Domain.java │ │ │ │ ├── DomainFactory.java │ │ │ │ ├── TopicDataType.java │ │ │ │ ├── attributes │ │ │ │ ├── CommonAttributes.java │ │ │ │ ├── DDSConversionTools.java │ │ │ │ ├── ParticipantProfile.java │ │ │ │ ├── PublisherAttributes.java │ │ │ │ ├── SubscriberAttributes.java │ │ │ │ └── ThroughputControllerDescriptor.java │ │ │ │ ├── common │ │ │ │ ├── ChangeKind.java │ │ │ │ ├── DiscoveryStatus.java │ │ │ │ ├── Guid.java │ │ │ │ ├── InstanceHandle.java │ │ │ │ ├── LogLevel.java │ │ │ │ ├── MatchingInfo.java │ │ │ │ ├── SampleIdentity.java │ │ │ │ ├── SampleInfo.java │ │ │ │ ├── SequenceNumber.java │ │ │ │ ├── SerializedPayload.java │ │ │ │ └── Time.java │ │ │ │ ├── impl │ │ │ │ └── fastRTPS │ │ │ │ │ ├── FastRTPSDomain.java │ │ │ │ │ ├── FastRTPSNativeLibrary.java │ │ │ │ │ ├── FastRTPSParticipant.java │ │ │ │ │ ├── FastRTPSParticipantDiscoveryInfo.java │ │ │ │ │ ├── FastRTPSPublisher.java │ │ │ │ │ └── FastRTPSSubscriber.java │ │ │ │ ├── participant │ │ │ │ ├── Participant.java │ │ │ │ ├── ParticipantDiscoveryInfo.java │ │ │ │ ├── ParticipantListener.java │ │ │ │ ├── PublisherEndpointDiscoveryListener.java │ │ │ │ └── SubscriberEndpointDiscoveryListener.java │ │ │ │ ├── publisher │ │ │ │ ├── Publisher.java │ │ │ │ └── PublisherListener.java │ │ │ │ ├── subscriber │ │ │ │ ├── Subscriber.java │ │ │ │ └── SubscriberListener.java │ │ │ │ └── types │ │ │ │ └── ByteBufferPubSubType.java │ │ └── resources │ │ │ └── ihmc-pub-sub │ │ │ └── native │ │ │ ├── Darwin │ │ │ ├── arm64 │ │ │ │ ├── libFastRTPSWrapper.jnilib │ │ │ │ ├── libfastcdr.2.dylib │ │ │ │ └── libfastrtps.2.14.dylib │ │ │ └── x86_64 │ │ │ │ ├── libFastRTPSWrapper.jnilib │ │ │ │ ├── libfastcdr.2.dylib │ │ │ │ └── libfastrtps.2.14.dylib │ │ │ ├── Linux │ │ │ ├── aarch64 │ │ │ │ ├── libFastRTPSWrapper.so │ │ │ │ ├── libfastcdr.so.2 │ │ │ │ └── libfastrtps.so.2.14 │ │ │ └── x86_64 │ │ │ │ ├── libFastRTPSWrapper.so │ │ │ │ ├── libfastcdr.so.2 │ │ │ │ └── libfastrtps.so.2.14 │ │ │ └── Windows │ │ │ └── AMD64 │ │ │ ├── FastRTPSWrapper.dll │ │ │ ├── fastcdr-2.2.dll │ │ │ └── fastrtps-2.14.dll │ ├── test │ │ └── java │ │ │ └── us │ │ │ └── ihmc │ │ │ └── idl │ │ │ ├── IDLToolsTest.java │ │ │ └── StringBuilderHolderTest.java │ └── xjc │ │ └── java │ │ └── com │ │ └── eprosima │ │ └── xmlschemas │ │ └── fastrtps_profiles │ │ ├── AllocationConfigType.java │ │ ├── AllowlistType.java │ │ ├── BinaryPropertyType.java │ │ ├── BitmaskDcl.java │ │ ├── BitsetDcl.java │ │ ├── BlocklistType.java │ │ ├── BuiltinAttributesType.java │ │ ├── BuiltinTransportKind.java │ │ ├── BuiltinTransportsType.java │ │ ├── DataReaderQosPoliciesType.java │ │ ├── DataSharingQosPolicyType.java │ │ ├── DataWriterQosPoliciesType.java │ │ ├── Dds.java │ │ ├── DeadlineQosPolicyType.java │ │ ├── DefaultType.java │ │ ├── DestinationOrderQosPolicyType.java │ │ ├── DisablePositiveAcksQosPolicyType.java │ │ ├── DiscoveryProtocolType.java │ │ ├── DiscoveryServersListType.java │ │ ├── DiscoverySettingsType.java │ │ ├── DomainParticipantFactoryProfileType.java │ │ ├── DomainParticipantFactoryQosPoliciesType.java │ │ ├── DurabilityQosKindPolicyType.java │ │ ├── DurabilityQosPolicyType.java │ │ ├── DurabilityServiceQosPolicyType.java │ │ ├── DurationType.java │ │ ├── EDPType.java │ │ ├── EntityFactoryQosPolicyType.java │ │ ├── EnumDcl.java │ │ ├── ExternalLocatorListType.java │ │ ├── FlowControllerDescriptorListType.java │ │ ├── FlowControllerDescriptorType.java │ │ ├── FlowControllerSchedulerPolicy.java │ │ ├── HistoryMemoryPolicyType.java │ │ ├── HistoryQosKindPolicyType.java │ │ ├── HistoryQosPolicyType.java │ │ ├── InitialAnnouncementsType.java │ │ ├── IntPrimitiveTypes.java │ │ ├── InterfacesType.java │ │ ├── LatencyBudgetQosPolicyType.java │ │ ├── LibrarySettingsType.java │ │ ├── LifespanQosPolicyType.java │ │ ├── LivelinessQosPolicyType.java │ │ ├── LocatorListType.java │ │ ├── LogConsumerPropertyType.java │ │ ├── LogConsumerType.java │ │ ├── LogType.java │ │ ├── MemberDcl.java │ │ ├── NonBasicType.java │ │ ├── ObjectFactory.java │ │ ├── OctectVectorQosPolicyType.java │ │ ├── OwnershipQosKindPolicyType.java │ │ ├── OwnershipQosPolicyType.java │ │ ├── OwnershipStrengthQosPolicyType.java │ │ ├── ParticipantProfileType.java │ │ ├── PartitionQosPolicyType.java │ │ ├── PortType.java │ │ ├── PresentationQosPolicyType.java │ │ ├── PrimitiveTypes.java │ │ ├── ProfilesType.java │ │ ├── PropertyPolicyType.java │ │ ├── PropertyType.java │ │ ├── PublishModeQosKindPolicyType.java │ │ ├── PublishModeQosPolicyType.java │ │ ├── PublisherProfileType.java │ │ ├── ReaderTimesType.java │ │ ├── ReceptionThreadsListType.java │ │ ├── ReliabilityQosKindPolicyType.java │ │ ├── ReliabilityQosPolicyType.java │ │ ├── RemoteServerAttributesType.java │ │ ├── RtpsParticipantAllocationAttributesType.java │ │ ├── SimpleEDPType.java │ │ ├── StringBoolean.java │ │ ├── StructDcl.java │ │ ├── SubscriberProfileType.java │ │ ├── Tcpv4LocatorType.java │ │ ├── Tcpv6LocatorType.java │ │ ├── ThreadSettingsType.java │ │ ├── ThreadSettingsWithPortType.java │ │ ├── TimeBasedFilterQosPolicyType.java │ │ ├── TlsConfigType.java │ │ ├── TopicElementType.java │ │ ├── TopicProfileType.java │ │ ├── TransportDescriptorListType.java │ │ ├── TransportDescriptorType.java │ │ ├── TypeType.java │ │ ├── TypedefDcl.java │ │ ├── TypelookupSettingsType.java │ │ ├── TypesType.java │ │ ├── Udpv4ExternalLocatorType.java │ │ ├── Udpv4LocatorType.java │ │ ├── Udpv6ExternalLocatorType.java │ │ ├── Udpv6LocatorType.java │ │ ├── UnionDcl.java │ │ ├── WriterTimesType.java │ │ └── package-info.java └── swig │ └── FastRTPS │ ├── CMakeLists.txt │ ├── FastRTPS.i │ └── generated │ └── us │ └── ihmc │ └── rtps │ └── impl │ └── fastRTPS │ ├── FastRTPS.java │ ├── FastRTPSConstants.java │ ├── FastRTPSJAVA_wrap.h │ ├── FastRTPSJNI.java │ ├── LogLevel.java │ ├── NativeParticipantImpl.java │ ├── NativeParticipantListener.java │ ├── NativePublisherImpl.java │ ├── NativePublisherListener.java │ ├── NativeSubscriberImpl.java │ ├── NativeSubscriberListener.java │ ├── SWIGTYPE_p_unsigned_char.java │ ├── SampleInfoMarshaller.java │ ├── Time_t.java │ ├── octetVector.java │ └── stringVector.java ├── launchBashWindows.bat ├── ros2-common-interfaces ├── .gitignore ├── build.gradle.kts ├── gradle.properties ├── settings.gradle.kts └── src │ ├── generator │ └── java │ │ └── us │ │ └── ihmc │ │ └── idl │ │ └── ROS2CommonInterfacesGenerateMessages.java │ └── main │ ├── custom-idl │ ├── geometry_msgs │ │ └── msg │ │ │ ├── Point32_.idl │ │ │ ├── Point_.idl │ │ │ ├── Pose2D_.idl │ │ │ ├── Pose_.idl │ │ │ ├── Quaternion_.idl │ │ │ ├── Transform_.idl │ │ │ └── Vector3_.idl │ └── sensor_msgs │ │ └── msg │ │ └── TimeReference_.idl │ ├── generated-idl │ ├── action_msgs │ │ └── msg │ │ │ ├── GoalInfo_.idl │ │ │ ├── GoalStatusArray_.idl │ │ │ └── GoalStatus_.idl │ ├── actionlib_msgs │ │ └── msg │ │ │ ├── GoalID_.idl │ │ │ ├── GoalStatusArray_.idl │ │ │ └── GoalStatus_.idl │ ├── builtin_interfaces │ │ └── msg │ │ │ ├── Duration_.idl │ │ │ └── Time_.idl │ ├── diagnostic_msgs │ │ └── msg │ │ │ ├── DiagnosticArray_.idl │ │ │ ├── DiagnosticStatus_.idl │ │ │ └── KeyValue_.idl │ ├── geometry_msgs │ │ └── msg │ │ │ ├── AccelStamped_.idl │ │ │ ├── AccelWithCovarianceStamped_.idl │ │ │ ├── AccelWithCovariance_.idl │ │ │ ├── Accel_.idl │ │ │ ├── InertiaStamped_.idl │ │ │ ├── Inertia_.idl │ │ │ ├── Point32_.idl │ │ │ ├── PointStamped_.idl │ │ │ ├── Point_.idl │ │ │ ├── PolygonInstanceStamped_.idl │ │ │ ├── PolygonInstance_.idl │ │ │ ├── PolygonStamped_.idl │ │ │ ├── Polygon_.idl │ │ │ ├── Pose2D_.idl │ │ │ ├── PoseArray_.idl │ │ │ ├── PoseStamped_.idl │ │ │ ├── PoseWithCovarianceStamped_.idl │ │ │ ├── PoseWithCovariance_.idl │ │ │ ├── Pose_.idl │ │ │ ├── QuaternionStamped_.idl │ │ │ ├── Quaternion_.idl │ │ │ ├── TransformStamped_.idl │ │ │ ├── Transform_.idl │ │ │ ├── TwistStamped_.idl │ │ │ ├── TwistWithCovarianceStamped_.idl │ │ │ ├── TwistWithCovariance_.idl │ │ │ ├── Twist_.idl │ │ │ ├── Vector3Stamped_.idl │ │ │ ├── Vector3_.idl │ │ │ ├── VelocityStamped_.idl │ │ │ ├── WrenchStamped_.idl │ │ │ └── Wrench_.idl │ ├── lifecycle_msgs │ │ └── msg │ │ │ ├── State_.idl │ │ │ ├── TransitionDescription_.idl │ │ │ ├── TransitionEvent_.idl │ │ │ └── Transition_.idl │ ├── nav_msgs │ │ └── msg │ │ │ ├── Goals_.idl │ │ │ ├── GridCells_.idl │ │ │ ├── MapMetaData_.idl │ │ │ ├── OccupancyGrid_.idl │ │ │ ├── Odometry_.idl │ │ │ └── Path_.idl │ ├── rcl_interfaces │ │ └── msg │ │ │ ├── FloatingPointRange_.idl │ │ │ ├── IntegerRange_.idl │ │ │ ├── ListParametersResult_.idl │ │ │ ├── Log_.idl │ │ │ ├── ParameterDescriptor_.idl │ │ │ ├── ParameterEventDescriptors_.idl │ │ │ ├── ParameterEvent_.idl │ │ │ ├── ParameterType_.idl │ │ │ ├── ParameterValue_.idl │ │ │ ├── Parameter_.idl │ │ │ └── SetParametersResult_.idl │ ├── rosgraph_msgs │ │ └── msg │ │ │ └── Clock_.idl │ ├── sensor_msgs │ │ └── msg │ │ │ ├── BatteryState_.idl │ │ │ ├── CameraInfo_.idl │ │ │ ├── ChannelFloat32_.idl │ │ │ ├── CompressedImage_.idl │ │ │ ├── FluidPressure_.idl │ │ │ ├── Illuminance_.idl │ │ │ ├── Image_.idl │ │ │ ├── Imu_.idl │ │ │ ├── JointState_.idl │ │ │ ├── JoyFeedbackArray_.idl │ │ │ ├── JoyFeedback_.idl │ │ │ ├── Joy_.idl │ │ │ ├── LaserEcho_.idl │ │ │ ├── LaserScan_.idl │ │ │ ├── MagneticField_.idl │ │ │ ├── MultiDOFJointState_.idl │ │ │ ├── MultiEchoLaserScan_.idl │ │ │ ├── NavSatFix_.idl │ │ │ ├── NavSatStatus_.idl │ │ │ ├── PointCloud2_.idl │ │ │ ├── PointCloud_.idl │ │ │ ├── PointField_.idl │ │ │ ├── Range_.idl │ │ │ ├── RegionOfInterest_.idl │ │ │ ├── RelativeHumidity_.idl │ │ │ ├── Temperature_.idl │ │ │ └── TimeReference_.idl │ ├── shape_msgs │ │ └── msg │ │ │ ├── MeshTriangle_.idl │ │ │ ├── Mesh_.idl │ │ │ ├── Plane_.idl │ │ │ └── SolidPrimitive_.idl │ ├── statistics_msgs │ │ └── msg │ │ │ ├── MetricsMessage_.idl │ │ │ ├── StatisticDataPoint_.idl │ │ │ └── StatisticDataType_.idl │ ├── std_msgs │ │ └── msg │ │ │ ├── Bool_.idl │ │ │ ├── ByteMultiArray_.idl │ │ │ ├── Byte_.idl │ │ │ ├── Char_.idl │ │ │ ├── ColorRGBA_.idl │ │ │ ├── Empty_.idl │ │ │ ├── Float32MultiArray_.idl │ │ │ ├── Float32_.idl │ │ │ ├── Float64MultiArray_.idl │ │ │ ├── Float64_.idl │ │ │ ├── Header_.idl │ │ │ ├── Int16MultiArray_.idl │ │ │ ├── Int16_.idl │ │ │ ├── Int32MultiArray_.idl │ │ │ ├── Int32_.idl │ │ │ ├── Int64MultiArray_.idl │ │ │ ├── Int64_.idl │ │ │ ├── Int8MultiArray_.idl │ │ │ ├── Int8_.idl │ │ │ ├── MultiArrayDimension_.idl │ │ │ ├── MultiArrayLayout_.idl │ │ │ ├── String_.idl │ │ │ ├── UInt16MultiArray_.idl │ │ │ ├── UInt16_.idl │ │ │ ├── UInt32MultiArray_.idl │ │ │ ├── UInt32_.idl │ │ │ ├── UInt64MultiArray_.idl │ │ │ ├── UInt64_.idl │ │ │ ├── UInt8MultiArray_.idl │ │ │ └── UInt8_.idl │ ├── stereo_msgs │ │ └── msg │ │ │ └── DisparityImage_.idl │ ├── tf2_msgs │ │ └── msg │ │ │ ├── TF2Error_.idl │ │ │ └── TFMessage_.idl │ ├── trajectory_msgs │ │ └── msg │ │ │ ├── JointTrajectoryPoint_.idl │ │ │ ├── JointTrajectory_.idl │ │ │ ├── MultiDOFJointTrajectoryPoint_.idl │ │ │ └── MultiDOFJointTrajectory_.idl │ ├── unique_identifier_msgs │ │ └── msg │ │ │ └── UUID_.idl │ └── visualization_msgs │ │ └── msg │ │ ├── ImageMarker_.idl │ │ ├── InteractiveMarkerControl_.idl │ │ ├── InteractiveMarkerFeedback_.idl │ │ ├── InteractiveMarkerInit_.idl │ │ ├── InteractiveMarkerPose_.idl │ │ ├── InteractiveMarkerUpdate_.idl │ │ ├── InteractiveMarker_.idl │ │ ├── MarkerArray_.idl │ │ ├── Marker_.idl │ │ ├── MenuEntry_.idl │ │ ├── MeshFile_.idl │ │ └── UVCoordinate_.idl │ ├── generated-java │ ├── action_msgs │ │ └── msg │ │ │ └── dds │ │ │ ├── GoalInfo.java │ │ │ ├── GoalInfoPubSubType.java │ │ │ ├── GoalStatus.java │ │ │ ├── GoalStatusArray.java │ │ │ ├── GoalStatusArrayPubSubType.java │ │ │ └── GoalStatusPubSubType.java │ ├── actionlib_msgs │ │ └── msg │ │ │ └── dds │ │ │ ├── GoalID.java │ │ │ ├── GoalIDPubSubType.java │ │ │ ├── GoalStatus.java │ │ │ ├── GoalStatusArray.java │ │ │ ├── GoalStatusArrayPubSubType.java │ │ │ └── GoalStatusPubSubType.java │ ├── builtin_interfaces │ │ └── msg │ │ │ └── dds │ │ │ ├── Duration.java │ │ │ ├── DurationPubSubType.java │ │ │ ├── Time.java │ │ │ └── TimePubSubType.java │ ├── diagnostic_msgs │ │ └── msg │ │ │ └── dds │ │ │ ├── DiagnosticArray.java │ │ │ ├── DiagnosticArrayPubSubType.java │ │ │ ├── DiagnosticStatus.java │ │ │ ├── DiagnosticStatusPubSubType.java │ │ │ ├── KeyValue.java │ │ │ └── KeyValuePubSubType.java │ ├── geometry_msgs │ │ └── msg │ │ │ └── dds │ │ │ ├── Accel.java │ │ │ ├── AccelPubSubType.java │ │ │ ├── AccelStamped.java │ │ │ ├── AccelStampedPubSubType.java │ │ │ ├── AccelWithCovariance.java │ │ │ ├── AccelWithCovariancePubSubType.java │ │ │ ├── AccelWithCovarianceStamped.java │ │ │ ├── AccelWithCovarianceStampedPubSubType.java │ │ │ ├── Inertia.java │ │ │ ├── InertiaPubSubType.java │ │ │ ├── InertiaStamped.java │ │ │ ├── InertiaStampedPubSubType.java │ │ │ ├── Point32PubSubType.java │ │ │ ├── PointPubSubType.java │ │ │ ├── PointStamped.java │ │ │ ├── PointStampedPubSubType.java │ │ │ ├── Polygon.java │ │ │ ├── PolygonInstance.java │ │ │ ├── PolygonInstancePubSubType.java │ │ │ ├── PolygonInstanceStamped.java │ │ │ ├── PolygonInstanceStampedPubSubType.java │ │ │ ├── PolygonPubSubType.java │ │ │ ├── PolygonStamped.java │ │ │ ├── PolygonStampedPubSubType.java │ │ │ ├── Pose2DPubSubType.java │ │ │ ├── PoseArray.java │ │ │ ├── PoseArrayPubSubType.java │ │ │ ├── PosePubSubType.java │ │ │ ├── PoseStamped.java │ │ │ ├── PoseStampedPubSubType.java │ │ │ ├── PoseWithCovariance.java │ │ │ ├── PoseWithCovariancePubSubType.java │ │ │ ├── PoseWithCovarianceStamped.java │ │ │ ├── PoseWithCovarianceStampedPubSubType.java │ │ │ ├── QuaternionPubSubType.java │ │ │ ├── QuaternionStamped.java │ │ │ ├── QuaternionStampedPubSubType.java │ │ │ ├── TransformPubSubType.java │ │ │ ├── TransformStamped.java │ │ │ ├── TransformStampedPubSubType.java │ │ │ ├── Twist.java │ │ │ ├── TwistPubSubType.java │ │ │ ├── TwistStamped.java │ │ │ ├── TwistStampedPubSubType.java │ │ │ ├── TwistWithCovariance.java │ │ │ ├── TwistWithCovariancePubSubType.java │ │ │ ├── TwistWithCovarianceStamped.java │ │ │ ├── TwistWithCovarianceStampedPubSubType.java │ │ │ ├── Vector3PubSubType.java │ │ │ ├── Vector3Stamped.java │ │ │ ├── Vector3StampedPubSubType.java │ │ │ ├── VelocityStamped.java │ │ │ ├── VelocityStampedPubSubType.java │ │ │ ├── Wrench.java │ │ │ ├── WrenchPubSubType.java │ │ │ ├── WrenchStamped.java │ │ │ └── WrenchStampedPubSubType.java │ ├── lifecycle_msgs │ │ └── msg │ │ │ └── dds │ │ │ ├── State.java │ │ │ ├── StatePubSubType.java │ │ │ ├── Transition.java │ │ │ ├── TransitionDescription.java │ │ │ ├── TransitionDescriptionPubSubType.java │ │ │ ├── TransitionEvent.java │ │ │ ├── TransitionEventPubSubType.java │ │ │ └── TransitionPubSubType.java │ ├── nav_msgs │ │ └── msg │ │ │ └── dds │ │ │ ├── Goals.java │ │ │ ├── GoalsPubSubType.java │ │ │ ├── GridCells.java │ │ │ ├── GridCellsPubSubType.java │ │ │ ├── MapMetaData.java │ │ │ ├── MapMetaDataPubSubType.java │ │ │ ├── OccupancyGrid.java │ │ │ ├── OccupancyGridPubSubType.java │ │ │ ├── Odometry.java │ │ │ ├── OdometryPubSubType.java │ │ │ ├── Path.java │ │ │ └── PathPubSubType.java │ ├── rcl_interfaces │ │ └── msg │ │ │ └── dds │ │ │ ├── FloatingPointRange.java │ │ │ ├── FloatingPointRangePubSubType.java │ │ │ ├── IntegerRange.java │ │ │ ├── IntegerRangePubSubType.java │ │ │ ├── ListParametersResult.java │ │ │ ├── ListParametersResultPubSubType.java │ │ │ ├── Log.java │ │ │ ├── LogPubSubType.java │ │ │ ├── Parameter.java │ │ │ ├── ParameterDescriptor.java │ │ │ ├── ParameterDescriptorPubSubType.java │ │ │ ├── ParameterEvent.java │ │ │ ├── ParameterEventDescriptors.java │ │ │ ├── ParameterEventDescriptorsPubSubType.java │ │ │ ├── ParameterEventPubSubType.java │ │ │ ├── ParameterPubSubType.java │ │ │ ├── ParameterType.java │ │ │ ├── ParameterTypePubSubType.java │ │ │ ├── ParameterValue.java │ │ │ ├── ParameterValuePubSubType.java │ │ │ ├── SetParametersResult.java │ │ │ └── SetParametersResultPubSubType.java │ ├── rosgraph_msgs │ │ └── msg │ │ │ └── dds │ │ │ ├── Clock.java │ │ │ └── ClockPubSubType.java │ ├── sensor_msgs │ │ └── msg │ │ │ └── dds │ │ │ ├── BatteryState.java │ │ │ ├── BatteryStatePubSubType.java │ │ │ ├── CameraInfo.java │ │ │ ├── CameraInfoPubSubType.java │ │ │ ├── ChannelFloat32.java │ │ │ ├── ChannelFloat32PubSubType.java │ │ │ ├── CompressedImage.java │ │ │ ├── CompressedImagePubSubType.java │ │ │ ├── FluidPressure.java │ │ │ ├── FluidPressurePubSubType.java │ │ │ ├── Illuminance.java │ │ │ ├── IlluminancePubSubType.java │ │ │ ├── Image.java │ │ │ ├── ImagePubSubType.java │ │ │ ├── Imu.java │ │ │ ├── ImuPubSubType.java │ │ │ ├── JointState.java │ │ │ ├── JointStatePubSubType.java │ │ │ ├── Joy.java │ │ │ ├── JoyFeedback.java │ │ │ ├── JoyFeedbackArray.java │ │ │ ├── JoyFeedbackArrayPubSubType.java │ │ │ ├── JoyFeedbackPubSubType.java │ │ │ ├── JoyPubSubType.java │ │ │ ├── LaserEcho.java │ │ │ ├── LaserEchoPubSubType.java │ │ │ ├── LaserScan.java │ │ │ ├── LaserScanPubSubType.java │ │ │ ├── MagneticField.java │ │ │ ├── MagneticFieldPubSubType.java │ │ │ ├── MultiDOFJointState.java │ │ │ ├── MultiDOFJointStatePubSubType.java │ │ │ ├── MultiEchoLaserScan.java │ │ │ ├── MultiEchoLaserScanPubSubType.java │ │ │ ├── NavSatFix.java │ │ │ ├── NavSatFixPubSubType.java │ │ │ ├── NavSatStatus.java │ │ │ ├── NavSatStatusPubSubType.java │ │ │ ├── PointCloud.java │ │ │ ├── PointCloud2.java │ │ │ ├── PointCloud2PubSubType.java │ │ │ ├── PointCloudPubSubType.java │ │ │ ├── PointField.java │ │ │ ├── PointFieldPubSubType.java │ │ │ ├── Range.java │ │ │ ├── RangePubSubType.java │ │ │ ├── RegionOfInterest.java │ │ │ ├── RegionOfInterestPubSubType.java │ │ │ ├── RelativeHumidity.java │ │ │ ├── RelativeHumidityPubSubType.java │ │ │ ├── Temperature.java │ │ │ ├── TemperaturePubSubType.java │ │ │ ├── TimeReference.java │ │ │ └── TimeReferencePubSubType.java │ ├── shape_msgs │ │ └── msg │ │ │ └── dds │ │ │ ├── Mesh.java │ │ │ ├── MeshPubSubType.java │ │ │ ├── MeshTriangle.java │ │ │ ├── MeshTrianglePubSubType.java │ │ │ ├── Plane.java │ │ │ ├── PlanePubSubType.java │ │ │ ├── SolidPrimitive.java │ │ │ └── SolidPrimitivePubSubType.java │ ├── statistics_msgs │ │ └── msg │ │ │ └── dds │ │ │ ├── MetricsMessage.java │ │ │ ├── MetricsMessagePubSubType.java │ │ │ ├── StatisticDataPoint.java │ │ │ ├── StatisticDataPointPubSubType.java │ │ │ ├── StatisticDataType.java │ │ │ └── StatisticDataTypePubSubType.java │ ├── std_msgs │ │ └── msg │ │ │ └── dds │ │ │ ├── Bool.java │ │ │ ├── BoolPubSubType.java │ │ │ ├── Byte.java │ │ │ ├── ByteMultiArray.java │ │ │ ├── ByteMultiArrayPubSubType.java │ │ │ ├── BytePubSubType.java │ │ │ ├── Char.java │ │ │ ├── CharPubSubType.java │ │ │ ├── ColorRGBA.java │ │ │ ├── ColorRGBAPubSubType.java │ │ │ ├── Empty.java │ │ │ ├── EmptyPubSubType.java │ │ │ ├── Float32.java │ │ │ ├── Float32MultiArray.java │ │ │ ├── Float32MultiArrayPubSubType.java │ │ │ ├── Float32PubSubType.java │ │ │ ├── Float64.java │ │ │ ├── Float64MultiArray.java │ │ │ ├── Float64MultiArrayPubSubType.java │ │ │ ├── Float64PubSubType.java │ │ │ ├── Header.java │ │ │ ├── HeaderPubSubType.java │ │ │ ├── Int16.java │ │ │ ├── Int16MultiArray.java │ │ │ ├── Int16MultiArrayPubSubType.java │ │ │ ├── Int16PubSubType.java │ │ │ ├── Int32.java │ │ │ ├── Int32MultiArray.java │ │ │ ├── Int32MultiArrayPubSubType.java │ │ │ ├── Int32PubSubType.java │ │ │ ├── Int64.java │ │ │ ├── Int64MultiArray.java │ │ │ ├── Int64MultiArrayPubSubType.java │ │ │ ├── Int64PubSubType.java │ │ │ ├── Int8.java │ │ │ ├── Int8MultiArray.java │ │ │ ├── Int8MultiArrayPubSubType.java │ │ │ ├── Int8PubSubType.java │ │ │ ├── MultiArrayDimension.java │ │ │ ├── MultiArrayDimensionPubSubType.java │ │ │ ├── MultiArrayLayout.java │ │ │ ├── MultiArrayLayoutPubSubType.java │ │ │ ├── String.java │ │ │ ├── StringPubSubType.java │ │ │ ├── UInt16.java │ │ │ ├── UInt16MultiArray.java │ │ │ ├── UInt16MultiArrayPubSubType.java │ │ │ ├── UInt16PubSubType.java │ │ │ ├── UInt32.java │ │ │ ├── UInt32MultiArray.java │ │ │ ├── UInt32MultiArrayPubSubType.java │ │ │ ├── UInt32PubSubType.java │ │ │ ├── UInt64.java │ │ │ ├── UInt64MultiArray.java │ │ │ ├── UInt64MultiArrayPubSubType.java │ │ │ ├── UInt64PubSubType.java │ │ │ ├── UInt8.java │ │ │ ├── UInt8MultiArray.java │ │ │ ├── UInt8MultiArrayPubSubType.java │ │ │ └── UInt8PubSubType.java │ ├── stereo_msgs │ │ └── msg │ │ │ └── dds │ │ │ ├── DisparityImage.java │ │ │ └── DisparityImagePubSubType.java │ ├── tf2_msgs │ │ └── msg │ │ │ └── dds │ │ │ ├── TF2Error.java │ │ │ ├── TF2ErrorPubSubType.java │ │ │ ├── TFMessage.java │ │ │ └── TFMessagePubSubType.java │ ├── trajectory_msgs │ │ └── msg │ │ │ └── dds │ │ │ ├── JointTrajectory.java │ │ │ ├── JointTrajectoryPoint.java │ │ │ ├── JointTrajectoryPointPubSubType.java │ │ │ ├── JointTrajectoryPubSubType.java │ │ │ ├── MultiDOFJointTrajectory.java │ │ │ ├── MultiDOFJointTrajectoryPoint.java │ │ │ ├── MultiDOFJointTrajectoryPointPubSubType.java │ │ │ └── MultiDOFJointTrajectoryPubSubType.java │ ├── unique_identifier_msgs │ │ └── msg │ │ │ └── dds │ │ │ ├── UUID.java │ │ │ └── UUIDPubSubType.java │ └── visualization_msgs │ │ └── msg │ │ └── dds │ │ ├── ImageMarker.java │ │ ├── ImageMarkerPubSubType.java │ │ ├── InteractiveMarker.java │ │ ├── InteractiveMarkerControl.java │ │ ├── InteractiveMarkerControlPubSubType.java │ │ ├── InteractiveMarkerFeedback.java │ │ ├── InteractiveMarkerFeedbackPubSubType.java │ │ ├── InteractiveMarkerInit.java │ │ ├── InteractiveMarkerInitPubSubType.java │ │ ├── InteractiveMarkerPose.java │ │ ├── InteractiveMarkerPosePubSubType.java │ │ ├── InteractiveMarkerPubSubType.java │ │ ├── InteractiveMarkerUpdate.java │ │ ├── InteractiveMarkerUpdatePubSubType.java │ │ ├── Marker.java │ │ ├── MarkerArray.java │ │ ├── MarkerArrayPubSubType.java │ │ ├── MarkerPubSubType.java │ │ ├── MenuEntry.java │ │ ├── MenuEntryPubSubType.java │ │ ├── MeshFile.java │ │ ├── MeshFilePubSubType.java │ │ ├── UVCoordinate.java │ │ └── UVCoordinatePubSubType.java │ └── java │ └── us │ └── ihmc │ └── ros2 │ └── rosidl │ └── geometry_msgs │ └── msg │ └── dds │ ├── Point3D32PubSubTypeImpl.java │ ├── Point3DPubSubTypeImpl.java │ ├── Pose2DPubSubTypeImpl.java │ ├── Pose3DPubSubTypeImpl.java │ ├── QuaternionPubSubTypeImpl.java │ ├── TransformPubSubTypeImpl.java │ └── Vector3PubSubTypeImpl.java ├── ros2-library ├── build.gradle.kts ├── gradle.properties ├── settings.gradle.kts └── src │ ├── main │ └── java │ │ └── us │ │ └── ihmc │ │ └── ros2 │ │ ├── NewMessageListener.java │ │ ├── QueuedROS2Publisher.java │ │ ├── QueuedROS2Subscription.java │ │ ├── ROS2Input.java │ │ ├── ROS2Node.java │ │ ├── ROS2NodeBuilder.java │ │ ├── ROS2Publisher.java │ │ ├── ROS2QosProfile.java │ │ ├── ROS2Subscription.java │ │ ├── ROS2Topic.java │ │ ├── ROS2TopicNameTools.java │ │ ├── RealtimeROS2Node.java │ │ ├── RealtimeROS2SubscriptionListener.java │ │ ├── SubnetUtils.java │ │ └── SubscriptionMatchedListener.java │ └── test │ └── java │ └── us │ └── ihmc │ ├── robotics │ └── Assert.java │ └── ros2 │ ├── CommunicationTest.java │ ├── DataTypesTest.java │ ├── ROS2NodeBuilderTest.java │ ├── ROS2SubscriptionTest.java │ ├── ROS2TopicTest.java │ ├── RealtimeROS2IntraprocessCopyTest.java │ └── example │ ├── ROS2PublishSubscribeExample.java │ ├── ROS2TalkerExample.java │ └── realtime │ └── RealtimeROS2PublishSubscribeExample.java ├── ros2-msg-to-idl-generator ├── arguments.json ├── build.gradle.kts ├── gradle.properties ├── pom.xml ├── settings.gradle.kts └── src │ ├── main │ ├── java │ │ └── us │ │ │ └── ihmc │ │ │ └── rosidl │ │ │ ├── ROS2MsgToIdlGenerator.java │ │ │ ├── ROS2MsgToRos1MsgGenerator.java │ │ │ ├── RosPackage.java │ │ │ └── RosPackageDescription.java │ ├── python │ │ ├── em.py │ │ ├── ros2_msg_ros1_msg.py │ │ ├── ros2_msg_to_idl.py │ │ ├── rosidl_cmake │ │ │ └── __init__.py │ │ ├── rosidl_generator_cpp │ │ │ └── __init__.py │ │ ├── rosidl_generator_dds_idl │ │ │ └── __init__.py │ │ ├── rosidl_generator_ros1 │ │ │ └── __init__.py │ │ └── rosidl_parser │ │ │ └── __init__.py │ └── resources │ │ ├── msg.idl.em │ │ └── msg.ros1.em │ └── test │ ├── generated-idl │ └── ros_msgs │ │ └── msg │ │ ├── Num_.idl │ │ └── TwoNum_.idl │ ├── generated-ros1 │ └── ros_msgs │ │ └── msg │ │ ├── Num.msg │ │ └── TwoNum.msg │ ├── java │ ├── TestGenerateMSGToIDL.java │ ├── TestGenerateROS2MsgToRos1Msg.java │ └── us │ │ └── ihmc │ │ └── robotics │ │ └── Assert.java │ └── ros_msgs │ ├── msg │ ├── Num.msg │ └── TwoNum.msg │ └── package.xml ├── ros2-msg-to-pubsub-generator ├── build.gradle.kts ├── gradle.properties ├── settings.gradle.kts └── src │ ├── main │ └── java │ │ └── us │ │ └── ihmc │ │ └── ros2 │ │ └── rosidl │ │ ├── ROS2InterfaceGenerator.java │ │ └── ROS2MessageGenerator.java │ └── test │ ├── custom-idl │ └── ros_msgs │ │ └── msg │ │ └── CustomBoi_.idl │ ├── generated-idl │ └── ros_msgs │ │ └── msg │ │ ├── BigNumSequence_.idl │ │ ├── CustomBoi_.idl │ │ ├── EmptyOne_.idl │ │ ├── Num_.idl │ │ └── TwoNum_.idl │ ├── generated-java │ └── ros_msgs │ │ └── msg │ │ └── dds │ │ ├── BigNumSequence.java │ │ ├── BigNumSequencePubSubType.java │ │ ├── CustomBoiPubSubType.java │ │ ├── EmptyOne.java │ │ ├── EmptyOnePubSubType.java │ │ ├── Num.java │ │ ├── NumPubSubType.java │ │ ├── TwoNum.java │ │ └── TwoNumPubSubType.java │ ├── generated-ros1 │ └── ros_msgs │ │ └── msg │ │ ├── BigNumSequence.msg │ │ ├── CustomBoi.msg │ │ ├── EmptyOne.msg │ │ ├── Num.msg │ │ └── TwoNum.msg │ ├── java │ └── us │ │ └── ihmc │ │ ├── CustomBoi.java │ │ ├── CustomBoiPubSubTypeImpl.java │ │ ├── MessageGenerationTest.java │ │ ├── TestGenerateMSGToPubSub.java │ │ └── robotics │ │ └── Assert.java │ └── ros_msgs │ ├── msg │ ├── BigNumSequence.msg │ ├── CustomBoi.msg │ ├── EmptyOne.msg │ ├── Num.msg │ └── TwoNum.msg │ └── package.xml └── settings.gradle.kts 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