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ROSCon JP 2019講習会 ROS2の移動ロボットへの応用

Yutaka Kondo
November 26, 2020

ROSCon JP 2019講習会 ROS2の移動ロボットへの応用

ROSCon JP 2019 https://roscon.jp/2019/ の前日に開催されました有料講習会の後半資料を公開します。

Yutaka Kondo

November 26, 2020
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  1. 526&RQ-3ㅮ⩦఍
    526䛾
    ⛣ື䝻䝪䝑䝖䜈䛾ᛂ⏝
    ㏆⸨㇏#\RXWDON
    KWWSVZZZ\RXWDONMS

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  2. ⮬ᕫ⤂௓
    \XWDNDNRQGR#\RXWDONMS

    ᮏྡ ᅜ⡠
    䝩䞊䝮䝨䞊䝆
    Ɣ aዉⰋඛ➃኱Ꮫ㝔኱Ꮫ༤ኈ䠄ᕤᏛ䠅
    Ɣ a䜹䝽䝎䝻䝪䝔䜱䜽䝇㛤Ⓨ㒊୺௵
    Ɣ a526-DSDQ8*୺ᐓ
    Ɣ a3UHIHUUHG1HWZRUNV䜶䞁䝆䝙䜰
    Ɣ 526䛷䛿䛨䜑䜘䛖ḟୡ௦䝻䝪䝑䝖䝥䝻䜾䝷䝭䞁䜾ฟ∧

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  3. 5DVSEHUU\3L0RXVH526&RQ-3ㅮ⩦఍䜻䝑䝖
    ௒ᅇ䛾⛣ື䝻䝪䝑䝖䛾ㅮ⩦఍䜻䝑䝖䜢䛤㉎ධ䛔
    䛯䛰䛡䜎䛩䚹
    Ɣ ⌧ᆅㄳồ᭩ᡶ䛔䠄ྎᩘ㝈ᐃ䠅
    ż ⛯㎸෇
    Ɣ 䜰䞊䝹䝔䜱䝻䝪䝑䝖䝅䝵䝑䝥
    ż KWWSVZZZUWVKRSMSLQGH[SKS"P
    DLQBSDJH SURGXFWBLQIR F3DWK
    B SURGXFWVBLG
    ż ⛯㎸෇

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  4. ┠ḟ
    6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ
    1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ
    ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH
    ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥
    5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స
    526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స
    ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕
    6/$0䛻䜘䜛ḟඖᆅᅗసᡂ
    59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁
    ⊂⮬䝇䜽䝸䝥䝖䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁

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  5. ┠ḟ
    6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ
    1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ
    ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH
    ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥
    5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స
    526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స
    ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕
    6/$0䛻䜘䜛ḟඖᆅᅗసᡂ
    59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁
    ⊂⮬䝇䜽䝸䝥䝖䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁

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  6. 6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ
    6/$0
    ³6/$0䛸䛿䚸⮬ᕫ఩⨨᥎ᐃ䛸⎔ቃᆅᅗసᡂ䜢ྠ᫬䛻⾜䛖䛣䛸䜢ゝ
    䛖䚹ṇᘧྡ⛠䛿䚸6LPXOWDQHRXV/RFDOL]DWLRQDQG0DSSLQJ䚹఩⨨
    䛾᥎ᐃ䜔䝬䝑䝥సᡂ䛻䛿䝺䞊䝄䞊䝺䞁䝆䝇䜻䝱䝘䞊 ᇦ䝉䞁䝃䚸
    /,'$5䚸䜹䝯䝷䚸䜶䞁䝁䞊䝎䚸䝬䜲䜽䝻䝣䜷䞁䜰䝺䜲䛺䛹䛜฼⏝䛥䜜
    䜛䛣䛸䛜ከ䛔䚹´
    KWWSVMDZLNLSHGLDRUJZLNL6/$0

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  7. 6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ
    *RRJOH&DUWRJUDSKHU
    Ɣ 䜾䝸䝑䝗䝧䞊䝇䛾䝇䜻䝱䞁䝬䝑䝏䞁
    䜾䛻䜘䜛㏲ḟฎ⌮6/$0䛸䜾䝷䝣
    䝧䞊䝇䛾䝞䝑䝏ฎ⌮6/$0䛾⤌䜏
    ྜ䜟䛫
    Ɣ /RRS&ORVXUH䛒䜚
    Ɣ ḟඖ䛰䛡䛷䛺䛟ḟඖ6/$0䛻䜒
    ᑐᛂ
    Ɣ 526䛷䛾䝕䝣䜯䜽䝖䝇䝍䞁䝎䞊䝗
    䠄526䛷䛿&DUWRJUDSKHU䛾䜏ᑐ
    ᛂ䠅

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  8. 6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ
    䝘䝡䝀䞊䝅䝵䞁
    ³䝘䝡䝀䞊䝅䝵䞁䝇䝍䝑䜽䛿䚸䜸䝗䝯䝖䝸䜔䝉䞁䝃䞊䝕䞊䝍䜢ධຊ䛧䚸
    䝻䝪䝑䝖䜈㏿ᗘᣦ௧䜢ฟຊ䛧䜎䛩䚹䝘䝡䝀䞊䝅䝵䞁䝇䝍䝑䜽䜢౑䛖䛻
    䛿䚸䝻䝪䝑䝖䛜7)䛾ᗙᶆ⣔䝒䝸䞊䜢ᣢ䛳䛶䛚䜚䚸ṇ䛧䛔䝯䝑䝉䞊䝆
    䛾䝍䜲䝥䛾䝉䞁䝃䞊䝕䞊䝍䜢㏦ಙ䛧䛶䛔䜛䛣䛸䛜ồ䜑䜙䜜䛶䛔䜎
    䛩䚹´
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  9. 6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ
    1DYLJDWLRQ䝟䝑䜿䞊䝆

    ኱ᇦⓗ
    ⤒㊰ィ⏬
    ᒁᡤⓗ
    ⤒㊰ィ⏬
    ᚟ᖐ⾜ື
    ኱ᇦⓗ
    䝁䝇䝖ᆅᅗ
    ᒁᡤⓗ
    䝁䝇䝖ᆅᅗ

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  10. 6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ
    1DYLJDWLRQ䛾᚟ᖐ⾜ື

    526䛷䛿䛨䜑䜘䛖ḟୡ௦䝻䝪䝑䝖䝥䝻䜾䝷䝭䞁䜾 䜘䜚㌿㍕
    526䛷䛿⾜䛝ワ䜎䜚ゎᾘ䛜䚸䜋䜌ᅛᐃ䛾᚟ᖐ⾜ື䛾䜏

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  11. ┠ḟ
    6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ
    1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ
    ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH
    ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥
    5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స
    526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స
    ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕
    6/$0䛻䜘䜛ḟඖᆅᅗసᡂ
    59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁
    ⊂⮬䝇䜽䝸䝥䝖䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁

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  12. 1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ
    1DYLJDWLRQ
    ⛣ື䝻䝪䝑䝖䛾⤒㊰ィ⏬䝟䝑䜿䞊䝆
    Ɣ 526&U\VWDO䛷䜰䝹䝣䜯䝸䝸䞊䝇
    Ɣ 䝷䜲䝣䝃䜲䜽䝹ᑐᛂ
    Ɣ PRYHBEDVH䛜QDYBEHKDYLRUBWUHH䛻⨨䛝᥮䛘
    ż 䝡䝦䜲䝡䜰䝒䝸䞊䛻ᑐᛂ䛧䛯䝘䝡䝀䞊䝅䝵䞁䝍䝇䜽䛾ᐇ⿦
    Ɣ 7XUWOH%RW䛜526'DVKLQJ䛾1DYLJDWLRQ䛻ᑐᛂ

    5DVSEHUU\3L0RXVH䛿1DYLJDWLRQᑐᛂ䛧䛯
    ୡ⏺␒┠䛾⛣ື䝻䝪䝑䝖

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  13. 1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ
    1DYLJDWLRQ䛾䝡䝦䜲䝡䜰䝒䝸䞊౛

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    HUQDYBEWBQDYLJDWRU5($'0(PG
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    Ɣ ⤒㊰ィ⏬䛾ᅇᩘไ㝈
    ௜䛝෌ィ⏬
    Ɣ ⾜䛝ワ䜎䜚᫬䛾ᅇᩘ
    ไ㝈௜䛝᚟ᖐ⾜ື

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  14. ┠ḟ
    6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ
    1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ
    ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH
    ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥
    5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స
    526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స
    ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕
    6/$0䛻䜘䜛ḟඖᆅᅗసᡂ
    59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁
    ⊂⮬䝇䜽䝸䝥䝖䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁

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  15. ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH

    Ɣ 53/L'$5$0
    ż ୓෇๓ᚋ䛷㈙䛘䜛'/L'$5
    Ɣ 53/L'$5䝬䜴䞁䝖
    ż '䝥䝸䞁䝍䛷〇స
    ż 67/䝣䜯䜲䝹
    Ɣ 5DVSEHUU\3L0RXVH9
    ż 䜰䞊䝹䝔䜱〇⛣ື䝻䝪䝑䝖䝥
    䝷䝑䝖䝣䜷䞊䝮
    ż 5DVSEHUU\3L%

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  16. ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH
    䝅䝇䝔䝮ᵓᡂ

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  17. ┠ḟ
    6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ
    1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ
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    5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స
    526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స
    ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕
    6/$0䛻䜘䜛ḟඖᆅᅗసᡂ
    59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁
    ⊂⮬䝇䜽䝸䝥䝖䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁

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  18. ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥
    8EXQWX䛸526'DVKLQJ䛾䜲䞁䝇䝖䞊䝹
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    90:DUH䛺䛹䛾௬᝿໬䝋䝣䝖䜴䜵䜰䜢౑䛳䛶䜲䞁䝇䝖䞊䝹䛧䛶䛔䜛ሙྜ䚸䝛䝑䝖䝽䞊䜽タᐃ
    䜢䝤䝸䝑䝆䛻ኚ᭦䛧䛶䛟䛰䛥䛔䚹
    Ɣ 8EXQWX䛾䜲䞁䝇䝖䞊䝹
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    ż KWWSVOLQX[IDQLQIRXEXQWXLQVWDOOJXLGH
    Ɣ 526'DVKLQJ'LDGHPDWD䛾䝉䝑䝖䜰䝑䝥
    ż KWWSVURVFRQMSZRUNVKRSFRPSXWHUBSUHSBOLQX[KWPO
    ż KWWSVLQGH[URVRUJGRFURV,QVWDOODWLRQ'DVKLQJ/LQX[,QVWDOO'HELDQV

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  19. ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥
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    FGaURVGDVKLQJVUF
    UDVSLPRXVHBURVࣃࢵࢣ࣮ࢪࡢྲྀᚓ
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    FGUDVSLPRXVHBURV
    JLWVXEPRGXOHXSGDWHLQLW
    FG

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  20. ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥
    5DVSEHUU\3L0RXVH䝟䝑䜿䞊䝆䛾䝡䝹䝗
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    ⎔ቃኚᩘࡢタᐃ
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  21. ┠ḟ
    6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ
    1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ
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    ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥
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    526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స
    ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕
    6/$0䛻䜘䜛ḟඖᆅᅗసᡂ
    59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁
    ⊂⮬䝇䜽䝸䝥䝖䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁

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  22. 5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స
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    VVKXEXQWX#;;;
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  23. 5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స
    䝋䝣䝖䜴䜵䜰䝇䜲䝑䝏䜢21
    HFKR!GHYUWPRWRUHQ
    ྑ࣮ࣔࢱࢆ+]࡛ᅇ㌿
    HFKR!GHYUWPRWRUBUDZBU
    ྑ࣮ࣔࢱࢆ೵Ṇ
    HFKR!GHYUWPRWRUBUDZBU

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  24. ┠ḟ
    6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ
    1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ
    ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH
    ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥
    5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స
    526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స
    ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕
    6/$0䛻䜘䜛ḟඖᆅᅗసᡂ
    59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁
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  25. 526ඹ㏻䝁䝬䞁䝗䛻䜘䜛㐲㝸᧯స
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  26. 526ඹ㏻䝁䝬䞁䝗䛻䜘䜛㐲㝸᧯స
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  27. 526ඹ㏻䝁䝬䞁䝗䛻䜘䜛㐲㝸᧯స
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  28. 526ඹ㏻䝁䝬䞁䝗䛻䜘䜛㐲㝸᧯స
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  29. 526ඹ㏻䝁䝬䞁䝗䛻䜘䜛㐲㝸᧯స
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  30. 526ඹ㏻䝁䝬䞁䝗䛻䜘䜛㐲㝸᧯స
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  31. ┠ḟ
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  32. ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕

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  33. ┠ḟ
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  34. 6/$0䛻䜘䜛䠎ḟඖᆅᅗసᡂ
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  35. 6/$0䛻䜘䜛䠎ḟඖᆅᅗసᡂ
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  36. KWWSV\RXWXEH28Q]U24

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  37. 6/$0䛻䜘䜛䠎ḟඖᆅᅗసᡂ
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    Ɣ &DUWRJUDSKHUタᐃ䝣䜯䜲䝹
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  38. ┠ḟ
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  39. 59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁
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  40. 59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁
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  42. ┠ḟ
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  43. ⊂⮬䝇䜽䝸䝥䝖䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁
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  44. ┠ḟ
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  45. 526䛷䛿䛨䜑䜘䛖ḟୡ௦䝻䝪䝑䝖䝥䝻䜾䝷䝭䞁䜾
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