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Ros2 AMCL problem exit code -11 #2963

Closed lunanueva closed 2 years ago

lunanueva commented 2 years ago

Bug report

Ros Navigation2 AMCL process died with exit code -11

Required Info:

Steps to reproduce issue

Robot mecanum omnidirectional 4 wheels

Navigation config amcl: ros__parameters: set_initial_pose: True initial_pose.x: 0.0 initial_pose.y: 0.0 use_sim_time: False alpha1: 0.2 alpha2: 0.2 alpha3: 0.2 alpha4: 0.2 alpha5: 0.2 base_frame_id: "base_footprint" beam_skip_distance: 0.5 beam_skip_error_threshold: 0.9 beam_skip_threshold: 0.3 do_beamskip: false global_frame_id: "map" lambda_short: 0.1 laser_likelihood_max_dist: 2.0 laser_max_range: 100.0 laser_min_range: -1.0 laser_model_type: "likelihood_field" max_beams: 60 max_particles: 2000 min_particles: 500 odom_frame_id: "odom" pf_err: 0.05 pf_z: 0.99 recovery_alpha_fast: 0.0 recovery_alpha_slow: 0.0 resample_interval: 1 robot_model_type: “nav2_amcl::OmniMotionModel" # "differential" save_pose_rate: 0.5 sigma_hit: 0.2 tf_broadcast: true transform_tolerance: 1.0 update_min_a: 0.2 update_min_d: 0.25 z_hit: 0.5 z_max: 0.05 z_rand: 0.5 z_short: 0.05 scan_topic: scan

amcl_map_client: ros__parameters: use_sim_time: False

amcl_rclcpp_node: ros__parameters: use_sim_time: False

bt_navigator: ros__parameters: use_sim_time: False global_frame: map robot_base_frame: base_link odom_topic: odom enable_groot_monitoring: True groot_zmq_publisher_port: 1666 groot_zmq_server_port: 1667 default_bt_xml_filename: "navigate_w_replanning_and_recovery.xml" plugin_lib_names:

bt_navigator_rclcpp_node: ros__parameters: use_sim_time: False

controller_server: ros__parameters: use_sim_time: False controller_frequency: 20.0 min_x_velocity_threshold: 0.001 min_y_velocity_threshold: 0.001 # 0.5 min_theta_velocity_threshold: 0.001 progress_checker_plugin: "progress_checker" goal_checker_plugin: "goal_checker" controller_plugins: ["FollowPath"]

# Progress checker parameters
progress_checker:
  plugin: "nav2_controller::SimpleProgressChecker"
  required_movement_radius: 0.5
  movement_time_allowance: 10.0
# Goal checker parameters
goal_checker:
  plugin: "nav2_controller::SimpleGoalChecker"
  xy_goal_tolerance: 0.25
  yaw_goal_tolerance: 0.25
  stateful: True
# DWB parameters
FollowPath:
  plugin: "dwb_core::DWBLocalPlanner"
  debug_trajectory_details: True
  min_vel_x: 0.0
  min_vel_y: 0.0
  max_vel_x: 0.35
  max_vel_y: 0.35 # 0.0
  max_vel_theta: 1.0
  min_speed_xy: 0.0
  max_speed_xy: 0.35
  min_speed_theta: 0.0
  # Add high threshold velocity for turtlebot 3 issue.
  # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
  acc_lim_x: 1.5 # 2.5
  acc_lim_y: 1.5 # 0.0
  acc_lim_theta: 3.2
  decel_lim_x: -2.5
  decel_lim_y: -2.5 # 0.0
  decel_lim_theta: -3.2
  vx_samples: 20
  vy_samples: 20 # 5
  vtheta_samples: 20
  sim_time: 1.7
  linear_granularity: 0.05
  angular_granularity: 0.025
  transform_tolerance: 0.2
  xy_goal_tolerance: 0.25
  trans_stopped_velocity: 0.25
  short_circuit_trajectory_evaluation: True
  stateful: True
  # critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
  critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist", "Twirling"]
  BaseObstacle.scale: 0.02
  PathAlign.scale: 32.0
  PathAlign.forward_point_distance: 0.1
  GoalAlign.scale: 24.0
  GoalAlign.forward_point_distance: 0.1
  PathDist.scale: 32.0
  GoalDist.scale: 24.0
  RotateToGoal.scale: 32.0
  RotateToGoal.slowing_factor: 5.0
  RotateToGoal.lookahead_time: -1.0
  Twirling.scale: 0.0

controller_server_rclcpp_node: ros__parameters: use_sim_time: False

local_costmap: local_costmap: rosparameters: update_frequency: 5.0 publish_frequency: 2.0 global_frame: odom robot_base_frame: base_link use_sim_time: False rolling_window: true width: 3 height: 3 resolution: 0.05 robot_radius: 0.22 plugins: ["voxel2d_layer", "inflation_layer"] inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" cost_scaling_factor: 3.0 inflation_radius: 0.55
voxel2d_layer: plugin: "nav2_costmap_2d::VoxelLayer" enabled: True publish_voxel_map: False origin_z: 0.0 z_resolution: 0.05 z_voxels: 16 max_obstacle_height: 2.0 mark_threshold: 0 observation_sources: scan base_scan scan: topic: /scan max_obstacle_height: 2.0 clearing: True marking: True data_type: "LaserScan" base_scan: topic: /base/scan max_obstacle_height: 2.0 clearing: True marking: True data_type: "LaserScan" static_layer: map_subscribe_transient_local: True always_send_full_costmap: True local_costmap_client: ros__parameters: use_sim_time: False local_costmap_rclcpp_node: rosparameters: use_sim_time: False

global_costmap: global_costmap: rosparameters: update_frequency: 5.0 publish_frequency: 1.0 global_frame: map robot_base_frame: base_link use_sim_time: False robot_radius: 0.22 resolution: 0.05 track_unknown_space: true plugins: ["static_layer", "obstacle_layer", "voxel3d_layer", "inflation_layer"] obstacle_layer: plugin: "nav2_costmap_2d::ObstacleLayer" enabled: True observation_sources: scan base_scan scan: topic: /scan max_obstacle_height: 2.0 clearing: True marking: True data_type: "LaserScan" base_scan: topic: /base/scan max_obstacle_height: 2.0 clearing: True marking: True data_type: "LaserScan" voxel3d_layer: plugin: "nav2_costmap_2d::VoxelLayer" enabled: True publish_voxel_map: False origin_z: 0.0 z_resolution: 0.05 z_voxels: 16 mark_threshold: 1 observation_sources: realsense zed min_obstacle_height: 0.00 max_obstacle_height: 2.0 realsense: topic: /camera/depth/color/points raytrace_min_range: 0.5 min_obstacle_height: 0.0 max_obstacle_height: 2.0 clearing: True marking: True data_type: "PointCloud2" zed: topic: /zed/point_cloud/cloud_registered raytrace_min_range: 0.5 min_obstacle_height: 0.0 max_obstacle_height: 2.0 clearing: True marking: True data_type: "PointCloud2" static_layer: plugin: "nav2_costmap_2d::StaticLayer" map_subscribe_transient_local: True inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" cost_scaling_factor: 3.0 inflation_radius: 0.55 always_send_full_costmap: True global_costmap_client: rosparameters: use_sim_time: False global_costmap_rclcpp_node: ros__parameters: use_sim_time: False

map_server: ros__parameters: use_sim_time: False yaml_filename: "playground.yaml"

map_saver: ros__parameters: use_sim_time: False save_map_timeout: 5000 free_thresh_default: 0.25 occupied_thresh_default: 0.65 map_subscribe_transient_local: False

planner_server: ros__parameters: expected_planner_frequency: 20.0 use_sim_time: False planner_plugins: ["GridBased"] GridBased: plugin: "nav2_navfn_planner/NavfnPlanner" tolerance: 0.5 use_astar: false allow_unknown: true

planner_server_rclcpp_node: ros__parameters: use_sim_time: False

recoveries_server: ros__parameters: costmap_topic: local_costmap/costmap_raw footprint_topic: local_costmap/published_footprint cycle_frequency: 10.0 recovery_plugins: ["spin", "back_up", "wait"] spin: plugin: "nav2_recoveries/Spin" back_up: plugin: "nav2_recoveries/BackUp" wait: plugin: "nav2_recoveries/Wait" global_frame: odom robot_base_frame: base_link transform_timeout: 0.1 use_sim_time: False simulate_ahead_time: 2.0 max_rotational_vel: 1.0 min_rotational_vel: 0.4 rotational_acc_lim: 3.2

robot_state_publisher: ros__parameters: use_sim_time: False

navigation LOG

[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2022-05-22-12-27-55-776224-raspiagua-2381 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [map_server-1]: process started with pid [2383] [INFO] [amcl-2]: process started with pid [2385] [INFO] [lifecycle_manager-3]: process started with pid [2387] [INFO] [controller_server-4]: process started with pid [2389] [INFO] [planner_server-5]: process started with pid [2391] [INFO] [recoveries_server-6]: process started with pid [2394] [INFO] [bt_navigator-7]: process started with pid [2404] [INFO] [waypoint_follower-8]: process started with pid [2423] [INFO] [lifecycle_manager-9]: process started with pid [2430]

[lifecycle_manager-3] [INFO] [1653222477.553102751] [lifecycle_manager_localization]: Creating and initializing lifecycle service clients [map_server-1] [INFO] [1653222477.592422399] [map_server]: [map_server-1] map_server lifecycle node launched. [map_server-1] Waiting on external lifecycle transitions to activate [map_server-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.

[lifecycle_manager-3] [INFO] [1653222477.616705929] [lifecycle_manager_localization]: Starting managed nodes bringup... [lifecycle_manager-3] [INFO] [1653222477.616826969] [lifecycle_manager_localization]: Configuring map_server [amcl-2] [INFO] [1653222477.668648264] [amcl]: [amcl-2] amcl lifecycle node launched. [amcl-2] Waiting on external lifecycle transitions to activate [amcl-2] See https://design.ros2.org/articles/node_lifecycle.html for more information.

[controller_server-4] [INFO] [1653222477.824652183] [controller_server]: [controller_server-4] controller_server lifecycle node launched. [controller_server-4] Waiting on external lifecycle transitions to activate [controller_server-4] See https://design.ros2.org/articles/node_lifecycle.html for more information.

[planner_server-5] [INFO] [1653222478.187740459] [planner_server]: [planner_server-5] planner_server lifecycle node launched. [planner_server-5] Waiting on external lifecycle transitions to activate [planner_server-5] See https://design.ros2.org/articles/node_lifecycle.html for more information. [controller_server-4] [INFO] [1653222478.298940856] [controller_server]: Creating controller server

[waypoint_follower-8] [INFO] [1653222478.376151613] [waypoint_follower]: [waypoint_follower-8] waypoint_follower lifecycle node launched. [waypoint_follower-8] Waiting on external lifecycle transitions to activate [waypoint_follower-8] See https://design.ros2.org/articles/node_lifecycle.html for more information.

[bt_navigator-7] [INFO] [1653222478.559097834] [bt_navigator]: [bt_navigator-7] bt_navigator lifecycle node launched. [bt_navigator-7] Waiting on external lifecycle transitions to activate [bt_navigator-7] See https://design.ros2.org/articles/node_lifecycle.html for more information.

[recoveries_server-6] [INFO] [1653222478.629365333] [recoveries_server]: [recoveries_server-6] recoveries_server lifecycle node launched. [recoveries_server-6] Waiting on external lifecycle transitions to activate [recoveries_server-6] See https://design.ros2.org/articles/node_lifecycle.html for more information. [lifecycle_manager-9] [INFO] [1653222478.715095862] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients [lifecycle_manager-9] [INFO] [1653222479.129419848] [lifecycle_manager_navigation]: Starting managed nodes bringup... [lifecycle_manager-9] [INFO] [1653222479.129676394] [lifecycle_manager_navigation]: Configuring controller_server [planner_server-5] [INFO] [1653222479.468992138] [global_costmap.global_costmap]: [planner_server-5] global_costmap lifecycle node launched. [planner_server-5] Waiting on external lifecycle transitions to activate [planner_server-5] See https://design.ros2.org/articles/node_lifecycle.html for more information. [planner_server-5] [INFO] [1653222479.519645315] [global_costmap.global_costmap]: Creating Costmap [controller_server-4] [INFO] [1653222479.593264600] [local_costmap.local_costmap]: [controller_server-4] local_costmap lifecycle node launched. [controller_server-4] Waiting on external lifecycle transitions to activate [controller_server-4] See https://design.ros2.org/articles/node_lifecycle.html for more information. [controller_server-4] [INFO] [1653222479.618658227] [local_costmap.local_costmap]: Creating Costmap

[map_server-1] [INFO] [map_io]: Loading yaml file: casa.yaml [map_server-1] [DEBUG] [map_io]: resolution: 0.05

[map_server-1] [DEBUG] [map_io]: free_thresh: 0.25 [map_server-1] [DEBUG] [map_io]: occupied_thresh: 0.65 [map_server-1] [DEBUG] [map_io]: mode: trinary [map_server-1] [DEBUG] [map_io]: negate: 0 [map_server-1] [INFO] [map_io]: Loading image_file: ./casa.pgm [map_server-1] [DEBUG] [map_io]: Read map ./casa.pgm: 286 X 345 map @ 0.05 m/cell [lifecycle_manager-3] [INFO] [1653222481.669121128] [lifecycle_manager_localization]: Configuring amcl

[amcl-2] [INFO] [1653222482.254117367] [amcl]: Subscribed to map topic. [lifecycle_manager-3] [INFO] [1653222482.459348951] [lifecycle_manager_localization]: Activating map_server

[lifecycle_manager-3] [INFO] [1653222482.556774868] [lifecycle_manager_localization]: Activating amcl

[amcl-2] [WARN] [1653222482.559969351] [amcl]: Publishing the particle cloud as geometry_msgs/PoseArray msg is deprecated, will be published as nav2_msgs/ParticleCloud in the future

[amcl-2] [INFO] [1653222482.561743996] [amcl]: Setting pose (1653222482.561719): 0.000 0.000 0.000 [lifecycle_manager-3] [INFO] [1653222482.611940165] [lifecycle_manager_localization]: Managed nodes are active [amcl-2] [INFO] [1653222482.712211721] [amcl]: Received a 286 X 345 map @ 0.050 m/pix

[controller_server-4] [INFO] [1653222484.143870471] [controller_server]: Configuring controller interface [controller_server-4] [INFO] [1653222484.147554390] [controller_server]: Controller frequency set to 20.0000Hz

[controller_server-4] [INFO] [1653222484.349802069] [local_costmap.local_costmap]: Using plugin "voxel2d_layer" [controller_server-4] [INFO] [1653222484.471171837] [local_costmap.local_costmap]: Subscribed to Topics: scan base_scan [controller_server-4] [INFO] [1653222484.740792970] [local_costmap.local_costmap]: Initialized plugin "voxel2d_layer" [controller_server-4] [INFO] [1653222484.740967567] [local_costmap.local_costmap]: Using plugin "inflation_layer" [controller_server-4] [INFO] [1653222484.754041921] [local_costmap.local_costmap]: Initialized plugin "inflation_layer" [controller_server-4] [INFO] [1653222484.826430221] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker [controller_server-4] [INFO] [1653222484.833315935] [controller_server]: Created goal_checker : goal_checker of type nav2_controller::SimpleGoalChecker [controller_server-4] [INFO] [1653222484.877854647] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner [controller_server-4] [INFO] [1653222484.909642144] [controller_server]: Setting transform_tolerance to 0.200000 [controller_server-4] [INFO] [1653222485.210464424] [controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic) [controller_server-4] [INFO] [1653222485.250791697] [controller_server]: Critic plugin initialized [controller_server-4] [INFO] [1653222485.256171292] [controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic) [controller_server-4] [INFO] [1653222485.274328521] [controller_server]: Critic plugin initialized [controller_server-4] [INFO] [1653222485.284171295] [controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic) [controller_server-4] [INFO] [1653222485.291325903] [controller_server]: Critic plugin initialized [controller_server-4] [INFO] [1653222485.294861872] [controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic) [controller_server-4] [INFO] [1653222485.323071418] [controller_server]: Critic plugin initialized [controller_server-4] [INFO] [1653222485.330013149] [controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic) [controller_server-4] [INFO] [1653222485.344546369] [controller_server]: Critic plugin initialized [controller_server-4] [INFO] [1653222485.349435395] [controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic) [controller_server-4] [INFO] [1653222485.363071145] [controller_server]: Critic plugin initialized [controller_server-4] [INFO] [1653222485.368808120] [controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic) [controller_server-4] [INFO] [1653222485.380082268] [controller_server]: Critic plugin initialized [controller_server-4] [INFO] [1653222485.386078380] [controller_server]: Using critic "Twirling" (dwb_critics::TwirlingCritic) [controller_server-4] [INFO] [1653222485.392328073] [controller_server]: Critic plugin initialized [controller_server-4] [INFO] [1653222485.392640934] [controller_server]: Controller Server has FollowPath controllers available. [lifecycle_manager-9] [INFO] [1653222485.524145011] [lifecycle_manager_navigation]: Configuring planner_server

[planner_server-5] [INFO] [1653222485.705245602] [global_costmap.global_costmap]: Using plugin "static_layer" [planner_server-5] [INFO] [1653222485.808945292] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability [planner_server-5] [INFO] [1653222485.828934905] [global_costmap.global_costmap]: Initialized plugin "static_layer" [planner_server-5] [INFO] [1653222485.829236988] [global_costmap.global_costmap]: Using plugin "obstacle_layer" [planner_server-5] [INFO] [1653222485.847552740] [global_costmap.global_costmap]: StaticLayer: Resizing costmap to 286 X 345 at 0.050000 m/pix [planner_server-5] [INFO] [1653222485.872199224] [global_costmap.global_costmap]: Subscribed to Topics: scan base_scan [planner_server-5] [INFO] [1653222486.078324232] [global_costmap.global_costmap]: Initialized plugin "obstacle_layer" [planner_server-5] [INFO] [1653222486.086307876] [global_costmap.global_costmap]: Using plugin "voxel3d_layer" [planner_server-5] [INFO] [1653222486.124765040] [global_costmap.global_costmap]: Subscribed to Topics: realsense zed [planner_server-5] [INFO] [1653222486.394128802] [global_costmap.global_costmap]: Initialized plugin "voxel3d_layer" [planner_server-5] [INFO] [1653222486.398672390] [global_costmap.global_costmap]: Using plugin "inflation_layer" [planner_server-5] [INFO] [1653222486.436991253] [global_costmap.global_costmap]: Initialized plugin "inflation_layer" [planner_server-5] [INFO] [1653222486.618999088] [planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner [planner_server-5] [INFO] [1653222486.619360579] [planner_server]: Configuring plugin GridBased of type NavfnPlanner [planner_server-5] [INFO] [1653222486.768267229] [planner_server]: Planner Server has GridBased planners available. [lifecycle_manager-9] [INFO] [1653222487.004653087] [lifecycle_manager_navigation]: Configuring recoveries_server

[recoveries_server-6] [INFO] [1653222487.137011882] [recoveries_server]: Creating recovery plugin spin of type nav2_recoveries/Spin [recoveries_server-6] [INFO] [1653222487.149194802] [recoveries_server]: Configuring spin [recoveries_server-6] [INFO] [1653222487.287777597] [recoveries_server]: Creating recovery plugin back_up of type nav2_recoveries/BackUp [recoveries_server-6] [INFO] [1653222487.307423495] [recoveries_server]: Configuring back_up [recoveries_server-6] [INFO] [1653222487.384254372] [recoveries_server]: Creating recovery plugin wait of type nav2_recoveries/Wait [recoveries_server-6] [INFO] [1653222487.394989772] [recoveries_server]: Configuring wait [lifecycle_manager-9] [INFO] [1653222487.472520631] [lifecycle_manager_navigation]: Configuring bt_navigator

[bt_navigator-7] [INFO] [1653222488.191143588] [bt_navigator_rclcpp_node]: Waiting for "compute_path_to_pose" action server [bt_navigator-7] [INFO] [1653222488.192493216] [bt_navigator_rclcpp_node]: "ComputePathToPose" BtActionNode initialized [bt_navigator-7] [INFO] [1653222488.213841204] [bt_navigator_rclcpp_node]: Waiting for "global_costmap/clear_entirely_global_costmap" service [bt_navigator-7] [INFO] [1653222488.214752191] [bt_navigator_rclcpp_node]: "ClearGlobalCostmap-Context" BtServiceNode initialize [ERROR] [amcl-2]: process has died [pid 2385, exit code -11, cmd '/opt/ros/f

padhupradheep commented 2 years ago

Check this issue, it is the same one..

https://github.com/ros-planning/navigation2/issues/2953

lunanueva commented 2 years ago

Many Thanks. I have already changed the robot_model_type parameter and now it is works fine.

Enviado desde Correohttps://go.microsoft.com/fwlink/?LinkId=550986 para Windows

De: Pradheep @.> Enviado: lunes, 23 de mayo de 2022 10:26 Para: @.> CC: @.>; @.> Asunto: Re: [ros-planning/navigation2] Ros2 AMCL problem exit code -11 (Issue #2963)

Check this issue, it is the same one..

2953https://github.com/ros-planning/navigation2/issues/2953

— Reply to this email directly, view it on GitHubhttps://github.com/ros-planning/navigation2/issues/2963#issuecomment-1134349224, or unsubscribehttps://github.com/notifications/unsubscribe-auth/AGTUGL3TR4IXDGQMHLHJGILVLM6KVANCNFSM5WTLMJ4Q. You are receiving this because you authored the thread.Message ID: @.***>

padhupradheep commented 2 years ago

issue can be closed now..

lunanueva commented 2 years ago

Hi

After testing my robot, I have noted that the problem is solved only if the goal is very close and in a straight line

It is posible that it could have erroneous parameters for omnidirectional robot but they are according with the ROS documentation.

Config AMCL robot_model_type: “omnidirectional”

Config Followpath min_vel_x: 0.0 min_vel_y: 0.0 max_vel_x: 0.35 max_vel_y: 0.35 max_vel_theta: 1.0 min_speed_xy: 0.0 max_speed_xy: 0.35 min_speed_theta: 0.0 critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist", "Twirling"] Twirling.scale: 0.0

Error in the log file

[ERROR] [amcl-2]: process has died [pid 2441, exit code -11, cmd '/opt/ros/foxy/lib/nav2_amcl/amcl --ros-args -r __node:=amcl --params-file /tmp/tmprh8h1bi6 -r /tf:=tf -r /tf_static:=tf_static'].

Many thanks for your help.

Florencio Garcia

Enviado desde Correohttps://go.microsoft.com/fwlink/?LinkId=550986 para Windows

De: Pradheep @.> Enviado: lunes, 23 de mayo de 2022 11:34 Para: @.> CC: @.>; @.> Asunto: Re: [ros-planning/navigation2] Ros2 AMCL problem exit code -11 (Issue #2963)

issue can be closed now..

— Reply to this email directly, view it on GitHubhttps://github.com/ros-planning/navigation2/issues/2963#issuecomment-1134427760, or unsubscribehttps://github.com/notifications/unsubscribe-auth/AGTUGL5RRFTILKV7HS2Q4W3VLNGKXANCNFSM5WTLMJ4Q. You are receiving this because you authored the thread.Message ID: @.***>