From 17552b50bb24507225d8af22979ca0fb4d33d6c7 Mon Sep 17 00:00:00 2001
From: Michael Rogenmoser <michael@rogenmoser.us>
Date: Sat, 28 Oct 2017 11:22:36 +0200
Subject: [PATCH] Updated wiki

---
 pps_wiki/installation.md               |  17 +++++++++++------
 pps_wiki/pics/setup_pics/configsh2.png | Bin 0 -> 21324 bytes
 pps_wiki/setup.md                      |   9 +++++++--
 3 files changed, 18 insertions(+), 8 deletions(-)
 create mode 100755 pps_wiki/pics/setup_pics/configsh2.png

diff --git a/pps_wiki/installation.md b/pps_wiki/installation.md
index 7d32fe6f..dd60310e 100644
--- a/pps_wiki/installation.md
+++ b/pps_wiki/installation.md
@@ -8,7 +8,7 @@ Installation with the install script is the easiest. You will need:
 - the ``d_fall_pps`` package compressed in a file called ``package.tar.gz``
 - the rule files for the USB connection to the crazyradio, called ``99-crazyflie.rules`` and ``99-crazyradio.rules``
 
-These files all need to be in the same directory. To run the installation, move to the containing directory and call it with
+These files all need to be in the same directory. To run the installation, move to the containing directory (pps\ install) and call it with
 ```
 ./pps_install.sh <student id>
 ```
@@ -27,7 +27,7 @@ Create a new catkin workspace and copy the ``d_fall_pps`` package into the ``src
 Add a new line in the ``/etc/hosts`` file that links the teacher's IP with the domain name ``teacher`` and create a file called ``/etc/StudentID`` that contains the student id. Only write digits without any other symbols or whitespace characters.
 
 - USB Crazyradio: <br />
-To set up the crazyradio USB dongle just copy the rule files ``99-crazyflie.rules`` and ``99-crazyradio.rules`` to the directory ``/etc/udev/rules.d``.
+To set up the crazyradio USB dongle just copy the rule files ``99-crazyflie.rules`` and ``99-crazyradio.rules`` from directory ``pps\ install/`` to the directory ``/etc/udev/rules.d``.
 You also have to install the library pyusb:
 
 ```
@@ -43,10 +43,12 @@ sudo pip install pyusb
 ```
 
 - Source scripts in ``.bashrc``: <br />
-You need to source the following scripts in the ``.bashrc`` file:
-  - the ROS setup script: ``/opt/ros/kinetic/setup.bash``
-  - the workspace setup script: ``<catkin workspace>/devel/setup.bash``
-  - the student setup script: ``<catkin workspace>/src/d_fall_pps/launch/Config.sh``
+Add following lines to the bottom of the file ``~/.bashrc`` (replace ``<catkin workspace>`` with correct directory)
+```
+source /opt/ros/kinetic/setup.bash
+source <catkin workspace>/devel/setup.bash
+source <catkin workspace>/src/d_fall_pps/launch/Config.sh
+```
 
 The workspace setup script will only appear after the first compilation of the catkin workspace.
 
@@ -64,6 +66,9 @@ must be replaced with
 export ROS_HOSTNAME=teacher
 ```
 
+### IP-Addresses
+Currently the teacher's IP is ``10.42.0.10`` and the student's IP are of the format ``10.42.0.xx``, where xx is an unused address.
+
 ### Installation of cfclient
 The steps to install the crazyflie client are taken from [here](https://github.com/bitcraze/crazyflie-clients-python). To install the cfclient you need to install its dependencies:
 ```
diff --git a/pps_wiki/pics/setup_pics/configsh2.png b/pps_wiki/pics/setup_pics/configsh2.png
new file mode 100755
index 0000000000000000000000000000000000000000..9fc54f0c83edcf46b2075885bab59bb37f8cff23
GIT binary patch
literal 21324
zcmb5W1yCNr|K>SBkl^kb+%34fYj6$0J-B;t_uvjM9^4_gySux)^Im>?_rKk(+uGWj
zni}bvo~h~nc6ImjnP<Y46{V2i@!<ggK$4LbR|Nn_<$uRoaFGAD4e|yW|8`JLqB3f5
zaB!>JN?ZR<@th^JoWI$dIlCD-ngZr__O_;sPR5R=rglyi_Rg13U4j5W3do3ysJUmJ
zWqD{N&94r2nPZ#5;JPkL#7SUcDq~A1f71LTK3+LDCqMgjw4%aW*O#$4Wj}jA`yfU4
z;vkSFEU@-h#YiV}FB{?*%cut!Fj;~nq_-B-TudHw%67Uqw0YFNa3W#r@niY$z)aN;
ze0K9*g97X>z~Vd{7E`$*y|<9Nm)OEVFi7}cEuQG7X!!qgFm;t9TyXU-VRh@y?@?B7
zZ9jQJ$FGS3?D<u@5(1F(QDLoTBz)0H$0NwVz2^B;`=(oRnKCqo1HOf7Sd;4rC8hG;
z`z+nGu?Kt6df#DwyIFgZ`AgUQ@sb-gh1&8X*>sQRG;6;uaE-Bnj8?AG=Vmavt>@-6
zho5@oVHbxfi(rTEZxpOFeQn~8OFcf9t)K1z^>UxNt4K11xXW?k8f<Uoa@Yw*VvRUm
z!24i=PtrXpQJ$|cAXWzZt3#YeMK=Gti&x{#W<8PQ-D7c>M<x5S9Gj&YxM}(~gV=f<
zhl3;UQP=E`7AlL2Wk>yFwla3-x5g0L+j73gmFC#XMUIbwM!(&@a7s=TAp*WbwQ$8$
znLjT~ydI90Ih-n*ndw~Hx6Q4bU5|tv(_Xz@M1<gJkR~&nC$?}UYVThXCL6?|O*YGe
zi;9PI_g9Dy9Wrpdg?4nNplwn~+rOm}LS(&xD^NpnzKq!4l*e^CKfIS;FY5)@0m4#Z
z;Jtj%cg=xcgH%%!9c(uTx~li&L2+e++;eeZyPCtj_CuCXe0qL`<PnpreiZKNCbLH-
z-hEvk>xX4Kf$%><dEMHIon=tT@_cm+8T%nEJe99t5JRG*>r$nK4Dj07pKo^kg{aN{
zm67WB3(+S7B0GS6T|SX{gZG;(pOW_H)$jt_hmTA$sJ|@tC`3z~p9X#3enNSC6zI@D
zhTFZ38qJT#@+OO*x*g}ouwnpzS)2*ZO+(U!?8UJ;t&ANUrxTfKIcd*a4LTh26Ylhe
z6Jw9Q7R-s6%P1SIG~8-dEPuyuf%Qli{r&S@F&^>ehFfHjJn|4%;}QoO_NuSRk2iV!
z!@qG90IP>(ANHu<!b0xU?(qJ;ZYA=!CTS&|Yhn^&JU38n3B%>{K+bCPwD3P&Wfy8u
zsZy5vZ^e~bSQKt#)DQ?Czc%DFGbEVaKSTVD_<A;VlR_5oH{yOPAYV1S(Q5s%bd1GS
z4#7CcL!wkCemq<>+ZhHb1ggP1P*VS*$**N`oI^$QkEhbd&j2X+7)BpceUsTgv8Gc(
z-)Snp>94By4-BnS$J8vhv5UbJr}-WExAqNLX&UZ(q@}F?Mx&~I&ADXo@ahGj;;jGS
z<A_#jjUzi8Yn?a84|0U9yym`2a2VMDdx2Y(d2T|$MI>);?}}znS*A(pM+~1mESHL7
zdx5JpA%a?FHD=32a0iLOtcN!k(!I**@Ih=iK5IMh!CEa9;-gO4XzYNpE|Qq)Z~^6I
zXJi9sX&p(K;8h~bP{u)F);s1Zw1U6Ze4<aCnWVXcQlTt{;$t18!Z>U#7x^jw#ayeO
zb~ff=6NKxggqEJ`ejU<t$XM2ED;--KN<TnN6Ue2kcuTF47>kwnIl?F}3D{DJ{V8$e
zA;Bzk;v@UtauoMiqwUvEJtrMX382tYQPGHEU}E@wL&TLzV+{WOOlu&o{AnyVv)lQK
zIRXbA^WS}@`9OIwqUN1nzKWow3wMM9{^qzy3d+C!Wwob|^5TwDRa<+%7svkV^w4+!
zOq~#*&k#s&b{*Q8_NFdUlC0v<27iEPp<E!Y&fW<FqKsiLIhY-VHPXEARb{zaf5;3J
zjRtdK3_ch^$$tY6ze_YJQ8#+$*s@zCLC<_N6F5;C<nLn47`_gZ-w#a*=$OwrC4bsp
ziSltfTn>9`ZiZb%@e%CrtZDpXbC4Al85<di0(NBqnyT&l`uhj}v#!7VU{Oj2fXVl|
z3<rn96tCBgkM-fJ=BMW0e~dRf1;+|Y#PmakLH&vHaqZym30e&R9o#Z$>H3oC=DX*<
zot~bz-rc>i5Ce&Eug^`K<&J<)|B60!^+rtizo&J%oi~lsi=8#-79rW?<Z^ZL{QOu5
zYHofy$~b)Vx%d2@gRM|qP@y3K15917;uDd$nY1R?4AO&N_Z`)|_4MA(*;hAl3ky^)
zWNr#B-_mr~uiKj<fr#`TGh0}Hcns#yR3HV4F=Nkr<zFoD3(?0WafH2`2SG>-W9_8|
zokE@l*Qe6AbYeEJeTfzxGdkglY~B33j_@h>EN{*Urf^aE?6OcBLHDmUL9*obwf>dV
zUn{)%MX{wOaTp*8Lma9TRw^KY9aYu{9kB#yZVHH(lA#xvaL(@)3bbP#=@CYn9u2+m
zDBPmDKoEvQ#8Kh1HmRfz4AGV&`Xyj!`t56l8VfEE)_IGHkju}RSJBc5Kbv2>eaiCv
z4>TVeky;*b#}K_V<PkxqpW|@txIMO2<Kqfe<NGqF?d-KGHZ8jkFd%@ZIfpigzp2u`
zk*CF65nT>N$Jn1i&XbF|sZ4+l={^fwqPQw8Ds}lD_lfa=uY<&dmUR+2J;d^HYiqAa
z1gltnpk<$)mX~PbWa@OWSHS=lwi;#vQ!f5g3{<vDWz12nKcARvq}o|LmyxO8J?c86
zF=(NUmOFfR?lOFoU7a8L8vGio$AFaexy4Y+@Tzm}oW*WOvkZXlb1D1J<0_xXm)W&8
z%@_mhI0Gi~LFTos-Ix7(F2B)4h^-c;m!F+pDnFd(f=?yp`}&ss&ep0!k=W87UYNC`
zPX~VqJyquT8ElPVnoAmRr>l&!)IP%NG?tw$oL_!RPdH{NSC7xbi<#}oB2l>bmWhjz
zA|FlI;T^Ji?MfA9;pV8yh`RnE(pfC5t?}IDiKTDL&jlYF>3eFV9PGs|Eg};{3FmW1
zg`_2~?~O_%0;o2Aw(JGXQqLVgIQHQ-W9vcWclvAPVWJ@1dksaCgc1J5KJm=t9V_CL
zii?-}E76704Uu4;Foy~0e^%V9s50vYTBgKQZ(tGHRtow~(DH;4uL>mDBDf-%m{M>-
z0m%x1SsWuwxowj4w$m<YcY%zgvSDNKfDY9I6+q|sNft?2Bc5Iv_;+ek7@063CFku^
zV!!fbz4mpl;kOi)fHhn~lw2ypA$07iR}KHaC^!ujkFUEiE-t;~_DUj*8B101SZk1S
zU-YXdq88MK1Wpnlex|?nyNQfw(A+OmFW5(8(yYMPrm0N+x}faNUnmC^X}_YB#ufU?
z;A<K*yw;$MrMHr|Ab<b;%a->s8vIK}Q5PMf4>aEFA_(Q5Z839VxllBXGg+^*b<QT7
z$U>FuWj48%qy_u^bl5HSJcs@89S3=mCxO|X*?I5?ISpJ(bo2N@s9x&nUlqL9%3#n1
z@|$mQGxv3^oSr&=g|a7pahZ<T7fcljLxtQC>dN4GaIhN2V4UE4dI%4?#qPN9-Pt|T
z0k)8IT3rL!*$)@F4!jA}mzBlB6b(rRt%~f=xXab!^6=U$cQG2f@Snc5$3c>MuYSCx
zcm2Fi*?k%*YnfQF>D&i$x;gpbs_fQgyS;VA<gy8Z4@F<KM4OY7<nm0Hw3_;wl<RN@
z3jRj<6AClR_@I~#maZ;-M*u~$)?&x!bJ9`2v*7Fc!{NbhU7>k;k&~lDb<V9}Mo1^5
z%{;-6OO1H^Rt%0ti1?yAkRU^RW;f*ugndP@BK)5A#Qdx#MM^DiJL|h4_~5;l`Qhwi
z!U4cY#Uco+eyd(n8SZaT_3u4og^)Pz=dfS(YqASCq_^fb)P}OO9LYL0k0pF!{L<y+
znJaiZv)|*vJmJ;QXgFROjUu6@z0Dfs6Zk6Tek~dDN%*>B75cXj-ISS=V=Jar5(K|_
zS1xu0_AyGMjh8AWk$KX}kq5dw?x&ua_Mj5<^p2RXO!TxDmpth+-{(qc+Pqk?J}wj&
zR-~29aUKpkdu5_s3-bGVy9&pifBqG>-!(3gO&>&#XpNw&!K)LcI0s#trN??02L|xF
z&Q9MwAk>Zm=e<s8SXSX<wxPR4-o3>>J2O}1%aPa~FiQ^P=zVd?)FqGrt`4uaK2wHB
z8G3>h%fRq(9G*TsY(4Bmx&_SkzP;;LOFlp?2@R_xQ*}_gG7wSL<l@=cEvOMnI9OYT
z@y=+G=h^uWqm-gocUxX+LNSSUgR_{HC6^QvSp8p}a>42NFR<|%X`fQVBk)gK-l+B2
zh;PaAqN2Wwq8F^l{~1wU=hq}paMnSwX!G|#N0hq)RBRCDDI*|?MHkU1&_|M+I0+jj
zZ5m><P*57}UJAbKtV&!G%YW;*{Ra1iYZ8V3Y=?w<W^r|Nbkw*H@eqx@m_%35@4WJ%
zSdvI3$KzVH`wco##mCn+0ZwuR65lhVS=jS2c1{NXO?G-zJNh0Sp=t2V5=2eSQ;OkG
zohhZN&`sY`P*6B9$ei)Z_iB9i@QgW<*)OZEiiafBM}|6*RCE#1z9~4Nt{H~5v{e7u
z=*+svtA4X*Y_be{7|p$;O`(H4i{r^sK5_n50D8Y@_)j&QaQx{a&V4+{E4Od-rE1vX
zvdL#hf}Qj}tmMI18`mW)+&#L+^(U+_V0wQNK8sE%E8!qA;}FBb%T~tprSIB3*mO}8
zq~zejX=w}UW<6u)HW>z2t~d`Jfe-xdyr|JFEp}Q|+$90!&a^_RCf|ITAXS;fbOMl$
z43d97y+sL37@6kAZDkPQ_iG5{Vq`c{dscVq8+=&^Dw0o(nA!Efq}}I&yQ{PCe`8fG
zZ(VS(HCKD9)#}NZWsa1ZsxVn8Hq_RU73=hyi+mL)K^)v^dY8P;%hk(t=wd9S_$t#=
z5Rsum`p5IkZMWfoix|nAxj|=U*LMh^H|Kn~e-G$<?Guq7x*ufFJ!ga!c27b4Yxnl^
z)<@ez>6daSV%DsKqyUy$X+@3-I%C}8XwpsrCIFZ1%GwUSV^!nWfP>KQ&y+J;`SmWe
zLvS5mo9|)cQn<t!FBb}TMRLXetKBWEP*HsuftpT=9<2Z2&B2BM!dYJ_j^BnGUxPGF
z{I{6iGiHq^mNcZzzgu`WfQ-8OA^RwDoenf!5{Rzi<JDXZUPj^|D~N>A=w9IVfjVbB
zM(52d{6$h4tnn|3HKBp8B$Q}boT`jgT`Bm$J?4Y8Ww&$EVm;y{bYeJlB6klIhVmRh
z>WEeZd{g52YI+g~I2u{sOYTo9Z*zRXFk4@0zbS|4^22@^-uaeyx^qg(I7tIFhGZM1
z<z5>*!FFWZ2aK?dtmtYKHKZN-Eq&eZw-0gm(5>BJYh^{OP+BKE>ug~~E82X9663E2
zn&p2V<P&aK_DmUs`qBTZr)*Iebqnf(){qejHlWb-{yQq*D3ehHBBtoh@7OFMVzPvn
zxdDgi;281+mk+8}J?IJI#5s=^rkfJI4OpzdfEuXTRt-BY*@Q!B`qY2;7Y)TmM}aK3
zepL;=rMV7mKCYB+3fZVi@!pimnwEgdK~UT;FNC?&p`f-D5j;B0w{OULLlHlI$Zj8T
zuEaljg@aD7zz*3NvyS0$kTAy6$E9dxU2(0g`9H`%>mrqMv~NJSCHsC2$o@!dmF0<<
zg0xB`h24V&LDdWBP~@?H0<4H#lscwij0HKOruTz!{J2%&>hSDCwOAl@(%y36SRQaq
zX4;4HPxp+W!V)fVT<4~TPEFzcyH!KQ{T0FAnQiyp-x5+Y+PrrCf(G9&$yi92MnMG>
zbM#`XN4jQ7@XTSd)<8_m3@bKEbE}T9kGgsrXT!RD;OBQh%lU3oYvg?3dm`N)CTSEh
zdv!TL^-gr3?M*W~G%Z6yBTuKg?)rNbocs)>{P8+LP;{<D-ikO?6IYwiH;0dUSOayx
z>KC79ZCi;X^RixXFpM+k>h4#B0aZKGr$)BLZ3P(a+n=N$g0;8@QoQ~73taE*cmFlt
zYl<e^3epp{1kO~3pqs&|jmBuHYc0FEQzV)l=`j&iue3e`2sb(xf_WWvo(WN7w<4rf
z9v}_}8i+ttRf7*<Zg8=xm8cQ!Ld`{PL209|sQ(1q@%@=PCEiIgbnB=8O&od9a^wFJ
zb&GQY47S|*AmZNyobuaF|728K=e{;a0$g)s>^pg9G)h{&hsT_bEq44yE$T}J_11=*
zV)7@&j=Z9I$kxz~?Aq=7v$B}{={6)2^Qs>MF~#q#E2Rdqn?!V38oQ9bi7<akhe&&@
z<<r7B)j&s2;7)PyRE7n6u(q-jrmCkd0LAZPypEriP5lF^C-A3e>RiE=PMHBo2rB!G
zXQ{7a&y-(yc~AOQ-&Zr)C?v_Tl{h6<0-*dFg?vufgiAyhs0al$5zljDH}Ffp#u*>2
z#AajtD2JvIr!>9ax+5@KOgh(l#k*9npYF5*zuoJxIuH6ZJA;gz`giZI2`wsS01!Q1
ztBCo(p6du1j`-5943l=$xo^fz$}u46Y7n1Y0ZVx|fofa3rA5aYgQa;u2atb3xo`X?
zOg17XPjeKK8v9Txc4LKm8F-Fug)SjC1Bl^1_x#0eL6Ek?&V@}ynyQp~lR_N^;sUGV
zP9?njBqBxQHP;F$O{a8(p|UJhsGi7;tdOQf60)QK;i$QWKPzDnQlM)d9r7R<mOBp`
zeYps_HZJe7PDpJyLQYjj$S-IhIOxN$!qD=Mo1Rf21HBq@latySFYFvzMZT;1@U8Q2
zB^OWY`wLm}rOR8wZtQBIwoCYopMa36+rs2J14HdBEP~W@L(0WQXFSeA6qJP5)u#2+
zjRo0P3!bQZ_FrFb%p@aWs7AXm7~PG_q=ra4=vAx|yB!`%PN8(<#rF2MSG)K!Rt>f^
z@aE@zCHpHGy=FofkzWqpj#KR@F^8iwLy?@e3ZC|gorvtfP4f9;+~1d1yOFB;5dlQ4
zr~a34wxLmSS8p%LN@~<oV*T(cB;?H7b(n#0ujdBG;G^kzr)g8iWT>GLB%CvW3vWSw
zj7D<9s|Lx7JQs5vA|~UX_s+{UN4Hv))_moYg%TfYt$(t*+^*F1VU9$HT7TJ=Kf0gk
zu(;exRJUnf6n_5x{q*4U(uSe^YUTJ=8+BvTuW`=)WUV9AMsaf@0l(!FjMofo>5oa@
z@tR2R+Q)Www-EF1``x0vc+GrbO;*J7kf@v44_nEjoPE0bjw+KQn5@0R=if~lQLN?x
zmS=ge->-I<x#Z(TbbeaSrdU(nFhM3+KIXiSQyUf(U#UpisRYZH#FmFv5|es0@18mZ
zJGxM)+&o??2!5L@y{bp7@X|dMe9kcbVT%NCaFqH9cJx5SZ%93va5Lp~yidE)STI_#
z$9sgC6hr<>uP$~ypm~lm+2>HNg{SZiGZ5<8m4i$9%6NwJ#S`jGvu6XR9vxa&riXZD
zPBMItt|z7EUcrhOo?Z9`?zl~QBzU1@q7Ad*gDRi%+oI<8u1rW_j<RZ0nb?lc2*wYD
zBgoo24JH%*qnlJ3k`-C+o)fF1=FrcvP9bV>p64Y*1a6xa^^uAEg3SkYCvgrC+3)QG
zo>y>%SlTEPS*zgPfD8|-G~N5p_{#{=ts5)&ikWB+CGICfWZg`yT*mX1K@a}^HBdSq
z6d=L&QlH>O-hx*A>xe|Rv7D5;r%DfuQ0QQHQI#y8%f5wk-Pl1FvxNN2K9mMU5i;Y9
zEU8;q=oq3;xuVX_iJn-*boRbAKkDArH6abO1tEd5$zuI*rt)t*!rN&moYLl%neVmL
zG5KuoD~-{cXW{D0r_nL5?L5ddyiZQz60bb7rv6O9g*~tthFO{1_QPv9Z`5N~MpHT>
zzGhF?Vuvv$5fH+-9ljr4`LQWVNWVF897RqV7!mxW;dq*LWwrz0No>-&?zh`1s}=9O
zj8d56)ek9yFP9wXbo+x>t4x$(5j#Fax{WKd-)xW2xUqqo+DE%KjW3sU!t?7{n?#u`
zJ%j7R!=nLmq~#+XKR?a_Nc>vj={3HggB^pVKKQt@Z$X2mD^g+Bd5C!f^Z_AYIR3{;
zrgH?WkFPE_4}$__4~VlkzU^1Rnm3DNw=r1ti$tz?!a*T^@RQ@j+5g1!511vNl8%dU
zY=dQwQYg~}Q{Z13D?isD`hV1QE>fTRbBRY=C5->%K}^T{PnLgjyOQt=&*OWW=@F#M
z`L-qS$MbT!+x9|DMKqz&Yo1y&+bb3c96vdiD<anP-<A3;9%c9cX!ifa{Mmx#-r1|i
zo<BJR^|tx0C0OzMoeWO{M$9<}V%b~Di}Vpw^ziQ&Jl#`Q3`WYU1%8@&${*+w7J)rp
zONKjp3D(w4C#N+fN(wCwt|KwidiQPjJ86{yJo^L1oo0UKD3!9SXK4Jh%rQ#;F1Tq~
zhp;ZjJ-ugn#Z|11X>(X}t5;bR$;suUSLk7_bvW7F9G+-RWg>_RAGsl>Tx-kG*tjk4
z%+Uqy8=MGyVudJd!})sy<+lE^QTJ@G?V{LIS@-Hj2sire#<idACi8ycMqA_}WhE|&
za#QemcR=6hc^prn{(O*GkC&^@%^wdXPQ!${f1}0q<nQ(sWHR!Pn*UPhyZ#@Ao>#bh
zGlE^}P?u9EUh|N8y~EvNFk3FR?YueFq6TkFQNX6Q;(QZ-aC|Mt+i<^N=A`hj=-K=4
z$$7imD{#u$rK$fpqebG1<W94nr4DSFN&ud_U-qKoyGk6-c?ggSYq*<~li5yl@j%I$
zZg5iysG2YC6%0x!pzg|9?N;b0n^IXd(Q<$EF#?5K`x$FmBL|!<fc2j!s`z5CPs){S
zVxu{>QGB||EIMOpj&B}m&q*wg>lrYQyM&^Ar(dJ-2GICM)SXZBn1Tmc2){D9hY4af
z>_acl-!llX)9W?~uL^ef3eBJE3W0BF9D61=afa}8JUd`tkdQr`u5dRm&6ot^R8RnM
zza>~$zf806leyJYb`xwd$Utn{8^<^Il`^M(M_|gq%NqOvjU0zXxz?UUZgRAWc!ijG
zY?khQy^yA=u0w@Ytk36H)NQO0S3>*i^Wr7uFe!5^Mm@->XDM>Awx5(xz<P08Y=Gg7
zYN&d$!h=tDvuXy7a6Na~4uR^owj&VL_L5$~UHP=Lu>=)f>HSnEV8**5BiGrkQ_ymG
zs-26f9vr%_UHf;A>w#n_2=wM^lZ9CSMLU1^>S21}wjPF!*tdbaKn}%KK>W+ob-|Tb
zLi)uTaj77$eTMj`?Le-!qQAHvog}lJW=(?xQ%qYt9_(9uf!B}d=f59%W)UFRP;N_!
z>AZ{tl7W^_geYBF#WVC)8Qa5j>_4hZsRWryt!c=L1FWy)J~W`-^%G;(tEYbVx`f_@
z<#fJLsXzjVz1t*2%O44YGg!Tf)y>*S7CaNr?&*}WN=#V~65^E5?(aAx+_ffiucIAy
zRpID?^IkWh2!zT%ZI0<rzd$Qo+#|lgA{Ldkx+SKD*uHQh{zo<@dlkJ;aDCr=-9DGE
zVvDH;S6sVlgmg}NbzOKbdu+pljpaU$UOcf_nghxuEAeD6bHezHx9{><?u8p4{;+b2
zoiD>;=&l_oB95CQEtbXl5WZuQt0QIQqGEo$>5~B${@qdw%Qv&%y0kS5Tg;0wa0wZi
za#0uN`P+OI$i@{_DiJjK^cxj)NV+Z`W@;nqMT1BAFgT$fyoc*L%M?HTd}e@|BCm$7
zO&aysH$F3unt9)CmWBG^Ld!4V^0IERPqLRx`^er=Nr>b{;B=vRw-jxHKr@T1I9eJ_
z;;u(CqT(Gv@$o7CH;^Qd33CqYvb8)w#D857v$|ou&j{F2lAf~^&CrXKsGxMcRF(6h
zp;LAbqc|gzCD$Ig4H`wa5=3PXP6#>6kvTEV*TZHIlDKkJ^OLwJ?A<4_+J~W1#t^xv
z&cB~!J;*wU%Ql+Bi0=GqA8iEUJ+=$T-?^x!t~JoHIz6);Z%Lz={_g;xU~sT?&zO%K
z$M=-aYD9P)G=!hskwYHmaJD5NQa4vSvR9t!8P|I9L!+ON_w8t39XUp<g4<8cnWxA+
zU8jpJN#E)Aq2zUB>~JL-6Vp&Y(`(-bU8>xrgUhkW$(VM>F3Ihu8{uq7Yp2pHBD8Ky
zMBQGu4%}%rL$|YbdeR~6V$s|f7K5-scp0vV9aW3=r(E7!OPr$NyejijDAdj*twv_3
z{inZzNjmOgB{;bL+(<26GAGY4kCk&a)I<k?cjZUy&|@|f6<;d2O67n(TK6j|S_a#w
z!d)wHb>3{$i#XZ~I&r7;Ox=oiE!lmWNOb;CKi7)*aFLH+ZjiUilMwnlfl8g#7mHRw
z4W538pxBDKN*-V9$ihp4JdMWIh_bPs&4&S!81+t{)cxDzK70OhKP}w&?cJ9F%u|Q~
z`MHHPKBC)aBN0X|18dQR*RT4EacEq(S=fovjIRN(em@IKdIY8GbT}7X!=QByv>o<S
zUo)!JA|Y5@%<PDpmWpYe{i?s2ci?}}w);B0Jnok<bb_Whv4Z_l{>jC%kIK%-{onLm
z7=|Yzs~Sm!R#r~bWE<h}FSR{&^56mZG(7>A=vo++E+3X$nwG#f$DjJ&JK`Q3DHl`o
zH6#ns!g%E0%~T!<n!N)41zwWpg#R6W_`Ck_YaMiZqlzUa@g}t2r-~F6AAw&!t4k0L
zffj!sw`i0dVMJ-=1Gnn~@bO7+EUdxP^3=R<<VV;A42W~69o{rKQt);=oxrcZKhYZM
zBo{otSX}+lgEg9LV#7j8J!So$V8zd1OO@p-7hIO5K%z9{GG)LsMbZYe=;MHcI>R#Y
z%@%ujW|0H<#M8j2PM%ypLFH=q!m#^a-vV@@g&@LR3R?NGOP~ZjC|5e~fnnCsSUwl^
z{@Pm!2?<#?wNy=kz28JW*TEzXRfdZ}l9&AZK<8Ko2s<W%)Y7wtfnJHZVIr*Qp|%iD
z7{s^j<`jH9vYpgoCM^`sg&`h<Hk>Vou!!9_2N>5xmMe8kKLiP!d4r-cU#265f-iaQ
zpF3W@2$bLJ$`g#3=Tf0pIt7Z^b`|^!ox6VaDOV&-eOI;FajDmeeYwj}0Z-uLk8t_o
zM@jW#_x-s{C56dD)<xHk3Oh?3%RO@3r3ZYrUy}k~Kt(r$C70EaKLQJcc9CFLkrTGs
z+TKxnhT9X}n6iYNe+~cI@5~<)YAhNhOI=&W(J!4O)$3i3eAP)Yu@%r`f&_F@H4A>=
z6gsY+q5lxD>}%wK8S9a{Y=33xcweOLpG{MY2zFz`++AlBh*GVSYrXKv&gwDF;MQ^?
zom660iCl)qd0*(wg?}`Q3rrY@zbxRg{QKi%C+G+cGOkuZnm{s3Fpm=@j(p&6!xlX1
zJ#-(V-Mi>JvEwf67uY|+t;8kBPNm~$CVOZ<r!U2R`tPMta0COSZO4DU&D{}Mxqg;V
zXB;4VvqZHa$MO533h!TQ+g%k<5w&Lq<krgksgqoW=I=-gsv0fCv4Kz#HHrB&#a6=w
zp&U=HY$a41p%(zjQp06LuAk&AsIzm*=QE3aoU%?`-Ope4L{DhSj@WTH;RqBSqulJz
zd2%$IZ7~VcQIr}cSXoNA&`#MGM(-{sO_agv4pyRIH1ymdw_jNYIr!_XD((UDM^m?R
z{J&3Z$*_KaRMTI+<stEVMpFpd&`~kX+pQ&#)*}8VYK8zcZz(2$z~;_l31Sx>86uo-
z1sH`D!<~oQQWPbS@F*uH(V^usb{v=nbCz)RxTw}H+UH<O=M)voLYSmW=mD2{HT|Sr
zcw}YVMb%e}X~EOdHlc_vs_DVD>T}HGVBM}VV=U)p@qxM7X()>M8&}Qk-y!#1onGgM
zUwQo3Q(-Swwz$vl1xq%3^p-?XKO)IT9y{GWQZZ?vg_k<cm%qUK!=v9aQ9|<9#aFw4
zuH0S6jP1cSmo<d`)B2lYmuavu)0@dmal$D?Ss6&enw-84hNCw#)|zd$_4!t-Y7j7*
za<RR?1k1-cWTI*MR6pn1j~GFnKYY_qfhHZ5D-UYBK&3x8PN<UdpOoFM8Hb5=oDLwR
z+NqHyqLP=#Ss6s{sVvlkXY3uo?f>5sku0^B?c&mw|5GADrLdqao<8sEagT@rrp!5k
z+xt~&yE3^tm>rurn^P5A0rPk3$N@syO6Sb!|A2@nyf=zHunWF9{{D^5C{P~INvvTr
zH7Af^r_N%81t)ilY>+T@=2F=DudjSGExF&#Y$EwHfq8wGzz{;QCpc7UzaI3br7=WU
zTfr2TLpz|JT%kxiq+RWIo0wFFMp!sq(eM;ZdR2+NxV%-Hb?Q<LA`nl(K{YW2k%52;
zm*CGj#g!iouk?$TEFfw@4e$hEpbddQkW(c(@?X@8R=@=RJ_V5_Mg6-#L<n;Ncis`h
zdlGll6s8Q{$wewA)2J#=xKvR<T%de|)Z+H*j>eCo!9nF*hX8{JswyD7`v}^#IBvb=
z+q!S0tQ_Axh;@CXesGYDP?P)afyG--YvYUBgguI{g5`-Y=xb9DN0h4yMRE49g}f+g
z&MVwORU<Dy+}unL7G0x)3n?RAMCs9EVD;%+yh9iDyoP#sx$f~2@@T&H#)#<WTw}Xo
zv%Zm5!gYR(;K3;eINVDk<s7HmnIOjohBoC3QVR&3(W76cl{vHw={N!VrD4lqf0La_
zNne5~BpdLwlk!?Usw63n>xrjaA#N#fQ??-Tm$1v^FrnmwtH`BIB2`RmpV;-3zby0y
z<@^rU6!&gBS`V@;bL)i{**ka+2-Sasl6vv<^6>D8`n}EnW8lts^su_4NF#$;zo`ae
z9RTW!Nv}_e4BgH;pQI7v`f4a@BHb)~?j8u}YxNBf8t_a;{JT~?{hCffEv*-YqR?sf
z*)uA~At_X4V1tSs!^FoW7_cCL3@AVzOSbNWzp!AtIrb!5(gE?41BmJTBeT>P4?q=L
zc_gwTK|D{9nq5+oUoDJ-%8iqOpxwh%7G{Fd`p%+O`Jmr(f^%|{uP_@ES^sdbo#X{(
zAkUp(lZ{IFx`bTVs;4?AkwbdKTABv^OM=A}vQ|17<PkjW&e8DaQ{PZq@xwGwy?CPU
z>q`jCG{2)6O4J+DL&uf{E2XE2Cd6yUcCNg8vNG2<2RA+_Mu7&2q$M;IZolSt8c;yj
zFA>7zrW{oMSXCp-&n)nZ;$5*sb$DKgy*TyZ*(*|qV1}U0U}ET?ySVryqe>3@ce_q)
z7`UhB?>QHE>z_u>oH?5Hqfjp|4>HAr5PmjGNMC!2&zJXr&Y4>io|m-(F!e3#YEgs{
z_k-bdV0r%TK;_C4p$c#Ga0d=q(?I|BuGgtg#RfI&&SS`;OlChR<p1h#x;Jcg?JX~F
ztenVv@c1`1z)Y}W1!AhOF~$uC_pIt5!v9n~j}{i8RFn9)ztafUp9cypUC$RD=P(P9
zyqRX=PpbF(eLb0%q#w`Djibo)`Lkn_Is2BYgy__(wZQ(KweX?T`P1}fm%4zzMHIqc
z<TugXxg$+dgvfIaT@qDkSI8Ag>8SOe-x7>w5dIV)8-B4#Np4c-E;LYo3*H}9sQJ|N
zh2LydsXrA>Whm%}<UiYB*j_5EG*{<2He5oQ*&DuYeJFiY&<dt{R@YhEfvs9cKxKS?
zm2uN%;hoAfBNKGAns*&OMOBjWK-8#8T4?9Lp&Z3_=T54;P@T+`-ccmKc15&Wn)3S=
z@5b@iB^KBdkJ**@CC<@IvV*iJV6|E+V|NyD7Vr4M`>HEtjr_^mQo3rE8CC(^1o!Ey
z(#F~|!G-MCJ?%*^#3t~G3II)^ZB*Eb*gCw@XwPBrcg^>aUrvX{vUANN)YXtcdTheP
zBV#@2UB?QT`?geF1U;)_Fw4e|BX4%=$+{iznZ^o0Z3$ELFD)TVXLAt&TK+V67TlPF
zuJGeO*V)+^JkR@Y3L(6kT$fI{T)V`jm?uFTgm6kS>~U~7rHI&*!zibyEEt5$u8iFZ
z*`(j>aEZ0IGip2FO|DG^NO*NA@#)QAChURZv8_cMTk`1`%_m!;#G`ai?H}{?R~}0h
z)|2E_zd$;>x2~@*Xw-ZSzv2()MY#ffpf0sbo(pWhf39ke&i>lY`G?=akT2{Z;p#G{
zqEdyofq)gHbKWNEc>kWLnL`z5E~kkn(O07e`I|ep4<U@|IC#zrvH3X(MQz=ZHL-j}
z{>x*}8{Y|*G^~=y-u1$PnNmRhhl)*i!BQYd^t>QPyMtTja_M5E@m)wNwMb3(vu5b$
zA?wv&iS!>LP%$w_6}DwiA>sXU*$n-?zm<H)XfKU?QT53={ZCYrvGwOqI6`cBDNOQ1
z9TaYgHpy@2PVxi7Fvy@02Lji%S^hsrNnOeaQsDhSgkum*N7xp9&%YgT@o$uhq;L)a
zgvSdmN}ED#^CsFuK@sg&J1A1{Mx49ns0dWT^ob;x5Cg<P^689$E?M3-fXdB#PmCn)
zjb|F<cjuEyaa)!=5+E|>gFvo@2(h+Md$_?rrL-y`?!G~W(mx<uy9uSqwfgI+^t|oO
zVFpDBJcDN0tRwfv>`bAJ^&kI}Hdz5SShIINk0LBOjn~7hDt6gyi87O|*X|yIc}-;p
zB6!V}Q34%d8LP-<aTK!D#5ZP{0MrhRZ+sc%xf&<%BaskL){1Q$%R?fu;6h!~pD!y`
z5H6Oce&=@dMey*b`Ni0q2CHhY3_hI@${$)ZXCADqp7;9@E~U_PNc;08S6TyhyM|Ys
z7$xrxRQ%-{>+|y1N{*4;@cB&SmQKa&G=7NZwySZtrY$PfT)AQ7tgtfYrs!VKYo&9x
zYSt=*<{U&M(;?@Cz)&P4AOS;52i=>x!ppIoua#>EryRN#x}K<^0|~qkY0<f&IE+-c
z?O@5rO5Eys2>T2?BY61lu00FFAU*$e$!@f0#xAqVe5!*1+9nIR42dkuXZ8Mw54s$j
z8pwyK?#%NXUZ8%KAspov00n{DaVfv}n_6MB_^;;UQ0u(Io&pWDMY8%qqM5jw2rzzO
zrfy1aAmwzm)hx&5@%f;uyh<cEnex0JN^*%qvShG#J~@P%`EPi0RRt~fULfUjFf=Gm
zg@a}shRgq<M%0(kq_j{J0ht*Bi-y^<8iPsftpsFlyu~%8{`x&&WRERZ%+Fm>F_8#g
z=-1)YBc<1t!-Wr4CMyWT!$+I(d&Oq?D@pZ#26<Hlx8O>=hk36F#momNRH~rQLzGIa
ztEM+F+*WytKdXg{&e>fUE!n(0l&%_n6jWudyDeE1A>i)yNU6B7=WM9fArF@uwIej@
zf@ClmWuOp^_7I?q_n1gqwEc<oIE9;tuSrBGpoHN&MXPYm-?13sB@7(CttW|CLm)X9
zOQdbZ{wn1Vhm~<9h5%Sq7kjM8VF>dE4lSY)sk)~Q^PCxJ%g#22ieKPO$bK$K4}T65
z&;5d#NuEF)bG;Xw>et@<LuzQw)cBD>@LQ(q)+t8!YKh|db=znqUz%!Ncff@i2zm7n
zhYlQosDCI!Z{E>a%S+G6#L*>NWqZtKBTYg~@z`YFMy*CGVpi>MY7fiRjLi<PeBZ`7
zr5^bw*)3h4<J}Wp7^i7<bl5$Wo#kh+Vl^nP8GL!Ayukh@psl_g-gQX3h$S&`-cvjL
z5Y*wkL_5E(x=5E)JS}^24B5@76OR;(>=_*jK_Jnln?Zix{I!UcqA6)*q6mVso(6+Z
z^X@_1gHHaX^bJd2<FzEz$mDwEZQ~z(x`W_;(0vbxMy%iQop~r1;Ho%6);CW=+`s;d
z`Lk9=`*T3%flv=B%9K}Ov5z0JxFb;wPU+;Q6CRXpp>i;dLFf>Dy@3JO%C)2s@>4J5
zID^XVs**Nz8HcY1b6svXKPSNGBggsO0{!bhVGG#1M<GXGQ+HFNuR@lKizYsJdbV;D
z6j7ruY0!q&{J<<vK%lEv_`$n&?;=Eu(D&0H+h3%PUx=v0zvAJgGqfowg-W|a9?C}^
zSO~VIwWJ%}V8jif^6en&%t$QLIRMFRqqzpTU`?(~bnYjflr4E#DZ7)-yu#%m4pP=P
z3B4dgS4!AYv7y9|srf74&d*H{Qs%^0v{UV?1^hypK9zF!{@jiJ^+1X&pX;wL<(ZEN
zy~>~Df7+Kqbh>oa7aLl=&BB8`7AT6?xX#Ezy`u|GptLI-G(LBawZv?HH?HCnEbVz_
zCy85ksO&m~UQOu)qxZpC!}jC+Y|&}MK#+dOFO$76aL!uje5v_WQbjB=;eQ8>=;#o8
z+~DEyR?qm;g=l`Bkpfux1sQXNR}^@bhG3d3mYFs4z|tB{sGpg7>R1kY6AJ~wm1|Qn
zY;4TfOOtp;>#sjmA0J5Cn8qW5hLD59VP9YZ0T-0`){H`ZTlF<1m2^>xG4h$%Qd@u!
zid05o##$Uz^j%%kJxkN8;qTNm3EKDdGk%@HrAZW^%!&kjheOM+&Q?Z+?hN0DhSaN_
z1cq?WJy0AR48SbBBG^MN>PY=ovMMd3v1>(W`v=2PXdu7*v2pZl^Y`9XkwSUx&Er`(
zxZ%F^7I~ZZLAPV9@Y!DMbTO4PDeCHQuV>7TA#;9n+0{Jt#}=l2=wdq{?A}3lrc^`s
zD*rDidYYOD&r5Fiu-+k3AOO;lcSafQZHH%h08~+WrnQOTUuI%ABS<CoawqjZUspur
z{=+J9&F@gKooeyNq9|TZ*AGjjAXyedoKKzl=q+!0wo<*51_kea`rTbm-TTop;1pwX
zuqy7{1B(k+Uvzj>ncpoVt*3?%;hlqAmyoTxYnrOz`jO7r(EM{~YZLypQqgJSGVNI&
z7^i(9Bkg5&pKG%5l0e7nYAP{D7yGR9?d3R|I~FDqJW|YxfH!=bN^M@s37T39E!nmY
zah?AyYfqWYa1fJWYMNhKiU09=4jv-{LMqg<7m-1s*%Q1$kJo0Ck=4D8;`Sq-?zP0)
zHW_c4bxUU{T_MYCM8s!>++k9(mX}F!)~3+tmAHIIqAtMvSngX84AzmSfSBs_=*tqX
zQV1H3>3XNVQV@&_dAVQ%y;EPP>#PuB=Em&q%p|l@%>rCXX=xjTs-I%G{i<0;>{S89
z&PM<;Q|~E!NS^QbW!q&|_{9L(m+^$+e;{nG*Uwa@4gz~{CC0vL5Yse;3IX#8hsjcq
z9aje#3JD2oX6CKTCg81_kp3+cGaCjde<UWVSRZzhS-DWp(W9MSGX&*PD+i^5pkqzm
zR*W-Dknpo9@q<f5{$q3bz_1tt{%>672N~Tno4d{IZzRNJu_}J9xJoeUqkR?KYarO_
zm#mDRjr`+#-T7G(fuZh+GtmPHbno%J16Ryz4ChN5^z*1nMlw~9y^u**Vna)5I7BS;
z&?y}}JMlmtKSRZ<W;(MA{C|02oF5^ze7CA}H@!H)jO7zD%`UFs7$_qT*^d-$$?Uof
z?SD;nU6mlAc5jv1Z>^c0p=(*z-(oe^u-Vxz>=IxnCaoM&jOcJWp9|>ShAy)yB7nK<
zs#!py;o*Pnck$ySR-Y$oVfU_6>Yij)*jVv)!1<qTFl)|I^n>?7x3K2-khP5p*)L9J
zLES99HYXpWU@o}0UyOM74@8z-SmrSkO*Yi`LW`fq1#}hL-ry@2Scl4Q6E6(->y0Oi
z1{o`QR&Z30Th5Q3?Z=StF0A^^MOD)s4`=LOU2~$!mFpGqiOAGL{;@S8-U3MA&;JY8
zx{CSG%B3eyP54j+Mwwkvhz#C-UaXe3l#wVbHmo==nJYWq?LD^n(3jG&p=KLw-F?hL
zj=iM)0VLE#`g2g=CvrRqi`pqGHSn^rh!BSV3((oC{Wm~IYIa5C%eAc^IzY0YzcMHz
zp*c~U6>YoUt`q<9+Ixi4vH9DGu%@7W5ScYwYOeT7D`bLrqQi84-}Jf2<$eoKSEubs
zdo|tQ?ObxfPx(*)D<bpi_7U1KB*ow|z&A*2gOGpVu`MkU#bgc&m?nAX?j|YG&gZ><
z*hft3kMqx!$Y>`N%5FT-t04rO*EUwV`~sj%BtCO7@5AA}a6<7znYX4<8MeC=*Aq}0
z@j6UwonK11p2b8N3;8w&@Pkz<lV8QTKKB1CbRyeO$22a#I)xwty>mj&-&b+15_{|p
z8!RFc?$$zd2h`r+jn4Y5mw%wfWH+2%kr`wAV(cxNFSKXTD(T5O(^2$JJ$4AJ8a4*y
zQ?TARHpZ=wT1x-TRF4QlaB$1E7+3tI1|4HJWzz(WF~-0H4CwnPXk==5JJ_EE^l3EC
z*~F&BxXvUnSGzj4+zNgAfw#w>N#Eu5mHyH`u^}3fzaW?Z(%=Hh!}2-nrwWqT=ty^;
zeSXdG?phl-pB)NbMcrM?Ac%w;9KatoVn4VrEKHw3DJzjT6g8qyX^gLf+v;_%e_)E^
z&AXG;K{?{qFddOE#ziR<<@A}G*th1a8XVJw)IiH`IXy1sC7yqvQDMq@R;0{TvJJKC
zbdhXb@zE;g(WhkSn@9rzglu2M#@P4`8y`m)m1wS2z|<2Sdh?H?7g47wzJAG1fNcMW
zL?P5>J9*zX;93;_+<hYO+zX9N!`*n7>=GX+`Hd$<1ni$z@3o7}^Au41lCjpJywGi}
z<7zDVd+5Tivu^JksX$cEx%Yx*Qoihm@!kc-;L_Q88X45=n2@uu{tuIe@_&<N%wt#~
zzpizHd$o^<sNGW`>!^Ud%iE1=K0{Z7<{t1;f)HIRcEYsv+2LlVO=v~$sKM)ntF~BZ
z_t&3DH<)yfyF~D%kcf6$Wh&MoGq2P;6I$FIH1Yy*l>#<V<H}wS-F?_hW#M_x727)Z
zHL(TYmfIMrX31G<g50<30I#z0cXLLl8p6{LM-oi^Fs;_Qr*K#X0WUeFp%0D~WPefR
zr(3sR3tq@>C8c*W{dkZIsC5<A_|b$Out?MGxNVqxQqD<6srDu=(lhuUN#B!@UsMt2
zzqVrGqcG}S&FqoM=twZcwOglLl`Y1TWC>fcKR1BF&xE;8BPfCH7bq<cj1VgZx%xY#
z>Am_(<J0qVJpX<f7rv&ZIQg2VaCr4)0lm$wv`7FGi-unu{Q<S88*Tr&+w?OB2^==5
zjM&2@#XXzKMY@)6#MU|JBVtV^bd+yy1W7)ZDsatE;<UtgjBlJwpch1q-@&|r-+MGY
z^S`5fyU^J#!-KApOm7Qrb4dZMD)AirUP4l&yGz|(fo7$q$-|n=F3j5%o6Hsp$k}`g
zCnMG8D7(v?1(MpNwv+3>cie}?bK*W$-13tb&?)g!tI~Y<9c*$0gakEyzbIWWw{~#W
z*wY6uk_kM+OQ?_K^~M?)>~C@RMchgS7t)hyyM9ZFnv%TE<H$&_CjvZ7cd#1P2?xJ6
z_?ptR9UPo1Jtn73HW1L#bb3}jj4V^cXq>J#N3Wf)X+<;>?4P%NDr^<`nJqQ0*KL+B
zh|*sobHWTNB?tajTo9#3&0J93DeLQv1F?NreGW+x-KG^>akOFAV)4VZ!<IuXstL9}
z|H~mW+LzBj@x<8pF81nI=(9_glM2mVq2NV(MQ~^PayPluqMs}nFW_L}z^1sqb4z8q
zKasXeV!r+!SeArI$tn?4et%6vr!=gne{uM@mppDw5gGN}>LwvPE<LS#RO75#xgA>|
z#uxm`Wp}`b*N@~TevGTA!+m7xw`)M?q2fKD)U{BrO?<&klAZ|nN;+<}thY*rZR26u
zpKN$x->J%Yp&?l+@1yduz{t}HuEXP*{Wo*i6)j2&rQl<3UGaUhurB{bTjoXQvEkvG
ztx@l}e7^u;MelVGT8Z@k-@PPz;m^3$5G`A9^~Cf<{=FgU<dp1ebzmdle`#LQeT_Ba
zo!%x9X~H!%$_+W%7klPc{fY4iP5LP$5|qVJyMQ6m8~FX7c}ep*BBXfWJ3#s}A;#c;
zv-InL3BRWvWb?#}h-=dwBM+-i0|>~Gb7qfBI{6HwZ6*Y2cA#6id0Tt(>H7UIJxe(B
zQa}G!7N_LI%V|y2neP}kg%!LQ38ve81K2d3j!X)bnp||f|3w(ppg@H#w%;EKjE4NL
zE(%;7)0KCz=IkNDa4B(=^`T>+7*bUnxIKPD0{>nlk&iAv-VNy<5%;Orfsunvw2xUF
zLfQ_!VL=AlZwHaRa^>yaXyhYb>)r5rlWjH*J7tYKM^mQxz1^#;c4f|EwP8M0oULVV
zqVq`B2WA_8!eDK&mcsgU+Yt?zYHd%aW<w>~4K|E*Z()w#!#3nI)K_SB4XQBk(kFBg
zs&T2Rrw$Sofnap<fm!MJEzE(}>R-uq>jx2;DJ|i6aqOHnOxmU-nB3^yH0x~v-{<D`
zO7<(!gZfgB*Y5}}@$;yUM4F$CTxz-05NDXG({4ZKhfgKUkpPpLfe<Rfr3uYIo31Br
zky+|nMsasmo>}nVSA6cZ@n7S6M-R2NbLIt1<ZO*<j0LbvFO{JpSQq1@(9vAqr={#?
z{QKwnVW-hPk(y@2aYpg_h}sg9N<{@&cVm&BAk;Tw1_i$e><yrZBY#J55l|#LP|YA8
z8Y17y-wfRXhS_DT;30%vXN^ig$9!{V=n-W)QTtD`q)U=aAL50Wfaz+WK9n}z@HilB
zn)uy3x)#CR6AD5<Rfc&9GXK{Q;pbe_ANG*BU!-!AO8>W{@F;H*R=Yd--EBjM%QWTm
z0^Hx22FIe{Gq_x^_tT^^YGk)cpr`Gl;GFw<SXQ8oV)s9;neN>e0|pcq?DZEimAy4y
z?2;BkZ=Avk#FILuicNf4<-0w4+>i|?a~@#k4)!^rDtNBeu?`ZG=NdXevEW>K$g1U@
z&T6@v(nC#JwTohYCgMajcT<{Ru#Ps%Mazb$Nl<<ces*<b&YvgDlL;6W>9bK?aj!v(
zzC`FKZu#Etwl_l_cA8;@AKRK)7!z4K{aIB*&IC`{JZsM3n5&2@La}gwMnQrn=3OYw
zQp<(h>bf{^AX4$Mn0X18+dMmRu+nS#i?*w?9Vei_{M7HmI4W1IZ)?rcL&&oFy5C6w
zeq5Dv<2vU=(;(pzFd}%L&qkc7Cn&lP8aH?o+I)d3J-kdZRd2vIEB_*fgZqS-c_?0H
zx1s%~=8r1GpBXAYj)O{wvO_UrmTaQirB%N(F9z7}&Wn#zUIzijcWy-p6ep;)L?_m>
zBU|>B=N4nl8l{<xwe9u1&8NsUKeCygtL3lfDzBazp<c8(zS4Mj>?Gf!S+ydh9RCj<
zE8L<dY%A<ucg){taZsQMf@K8&Kp*_ie*q{<FT2mUU0(5RAR1UD7rv;@6?>GB*y$*t
zlkEb8f}-~JCVK(Xsp%P_XfkZy@D1~xrFl?hOaC~CsF;juu?+{UBds6<@n$aG3NnwZ
z*M>KxF~W+!SBl@;ea@bTc;1g+hO7X@7-Ag%!s33II6XajXl`#}4CN#Pz1zljw^MBQ
z&f0<7WRAF$;<XmvhoOMYFE?#ROS<GZ;)Kl_9mYL+ISMsKm7YW)HA+AI;Fvdt;sBaX
zw>IEb3VOvxQ6n31!Q7x#kNdLUqk7??yrtnfFRW3;{XhPz6rp0FrCP>X0z)IA-CpL<
zaN6maI{c$kqkb5L^}1t?V0h8m`zQ}#TZvS~TwYYwPeH<3uFe_dzs#!1=kJR=+L-w&
zNe<iJ{auQ~N>WW&Daam06n#zwGshb^K8;w>t-A8fSzx;hZ>&)NrwB}QEj8n%6Y#~@
zoc|s`ehQ@cj(8Vsp<U@|4>G%woH(guW(GgE*B-JI-}VU}pkDCM$DLRlbA8ZsVyLj2
z7l#|#o7K~0qkBjuN?ntVtlpI;*g_|p4mK?F+Zw_og$`EKTtA!WRHts7-OpsieWok8
z+{@%mM$@lgdWCrK&o$5i33${tt5^?-YsO%8{$H(}XEYq#)_`a9&MVQPCR()U(K|u(
z_KHr_5GHz`(FGB`_ZCr8MjL`LdI`}*8^mZ6B^ZWLKJUGE-SvI{zh8Upv-a8N?6dYd
zKh8eSzR9EeBpOkBQL3e@kTHn`se~PH=5{RZ9dYcq;7plf>z`9ZIQMy&G2a!=X_W_;
z)4#vXy4D;MoT)$BgHGIFIY~0=K<k^5Q-KK6Rm}9fajZd6UZ&iC886p6#*0rYnE&O|
zM{l@UN#24VCK!1>2xF=(*mhS>*GB_A8AJ@C97x$X5<Sb>)kWc^JF-#gsusTUajjiE
zrpYwu^&SJk6oE%wHm3(YUV<Hb1Zf4^#B2e7s9AQ=`zRDj^kv-1Tc+t0p_1;i>{2;y
zmDn%w<Mal(7w!?Su+7>3<-6jn7|>AAYF#0_Y)H)PxF5<&c28W`mOr=KUaWTFlOAo^
zepv}N<yq%qq{7=oyE63CfO4zoCP~5sbK&cD$Mb&8jRTUO+^nS9w1eq=PgbiilS`ob
zp@3ka8JAQ({2MRy^-3-KhX$Klk>{nRMGLPz={eF`B=H=2;7kCr3|ZZ1#;LADL!7-^
z>*?aeR=`8+R)?jtqJ7m`5LY~(6;2Fx&DsQLAY_haXacJ_)K;XAI6q*L-2qUOPc1Uq
zf8@dk#ByCKV>5l@6nn=yi7>~EPGW+6_Aj)MNTqHV-?Q?#)x!RLkDiEcJVx5liR2?m
z_RjNI%Gxcpf9jOir5Ma3zS90Jk%(^VZ7ugrfOOa#G7XFD75~{=;p6RWi)i+x=(SMO
zB--38(h1)qx3~B&JXU!JkKJmxdzHF#O9B!bON+pI6tJm?j5!sm&se}?6JmnY*3Wmp
zmHrPsHrw(4Mvr-PKQHw8z4Oa_HUHj}oV?maVEB1LbZ#m-#iC`=iYnqrkSSsXyS|0{
zdYp-v{okP3{^M_rJC_2oMtMbKeDO_|hQx0uF$*j7byknLNL|_MrJ1)Sly>g*E{kMi
zbRpHvw;96Lc~{tB3XMiXfIW>1^FBO+o;p>Te^=T2$n7?KW|+#1fd*1AL#o1e>SB^p
z#=2s#=-VV;ecl}L1_^Q&YNCzygcCZUI_9b>n=M<b$a);J2IwiC#FNj=&jdD`%tlh^
zX%XHcSBv5$gHfS?+b->hnEubgBm6{srBM&ih%Mu9Sv9j$?e7AhEwg#D{<7k%p@++_
zKqW1!Exx;A4VYa-6Kh>S@g&R(({83RnfT%-Sro}om)1*?pE<s_${Yl0FI06<=fTI+
z+Ce9w6CGFMxZ;yyPNhI~@PQVSw2IrvyH+qm%hg5hJ?2lD@2>U|es#zJiK3nH6D(YJ
zY>rAtdz^N}Nr88GpWZC70S7&v$jGJt^p>1AU@R_8H}ObZJaHO7PmY<{?1;4RH|JyX
z<kPqkZ6Kf?*Z{*nU>O(mkvkzcrAS+{_{HC3g{h#8n$VokVBy7M7YW2$)8!uk+z^a{
z#Jl9A;gwDLpfQO=(!-|}U$;(i!r$0@kFw|>;4?dcRlynf4_p6xB&TE;`qJu?O1OAm
z0r7HudvLX}%ibR6Vb}SO<J)5HB5@-_ktU1Y<YvtPo8SYKB(;v1&?+W3yLgR)<LpNB
zrBFAk|E+bm!fmG2w+dkh#NrCq+RHLRZN+?PNx|X-wLls!MD&}ey6XDL)G!WQ7{XO;
zot}bT@x#8F!>C64^L1S`G(6|lYiR{nitm4sFW)FSJ|Igpny<xMRzJ8VdMT>*3242x
ziFi|u%ZMU)DuY+s?JaY7ddlr0=(tno$e<*$`G-*dGAgPU6D~}YYgB`et*@y^rN7K2
zm-6tpg#TRm$;4Rt>*IIEOUHplaqbd9%4?HCP?VCnvFojy^G=}FNs#{4Dq+ALke9ct
z|LF!y8usF9V`$XDR62pH3t(bysl++}3zY-zxS<16t`8*h)sjfn*`AzrOFk}aAs~W_
zQ{vAJ<^^#kB}L0;$U!ON?6n}oyminRVV<|4XC7ORBE?Ie#FC0gs^YitoL-Q&S^$1n
z$TXeKNrK8bYZpFzs5m_ERE6&~?5c!CtnlNyn2xk_50-qn5DI&%hRS9Eu;IU(5tUN;
zz|{!+@Z~%h>XbnyAC5x1w4GmlT2dITZ2Wk;>9G3_i(UGZr(<^wd~3mjVe1^(OPxb_
zr4DQ@n=~scFAA5(`5&fGd-F%V?wrc~@hnPeCbI_U3JFYV{!yo61)LxSUOy651=9g|
z1}q_X0DJu&8UQPU5S#BC6}Up+<=)VlHhAXvW6ck?rD><|MG5!OTFNzflj_9+k}Oei
zeCb9A4Nu-TV?uS^LfIc2HZ6{A;?Px+2sE^J;e8|%MTjyN{V9uuzG88t0<Ts@<JU=o
zuF!hOp^S<2WOeI+IM(O$Xh3T38a?X+VS-v_@MrL5?6#Bzf!hf4piT;%^pkZNoc0HT
zc1&?hk1u(~I5h)63N*xGSUjNG*hm=FFZeVTb3iD+<;_k`dieaAu1K`DRF5?rb+|Dz
z*d{ReaLitu-m;p1*mC*(G~Id%p7M1dz`k)Ke+gbNfv9N5l@mC)%a*FFP^%@){U8Ip
zWVXS^Jqz_eua0#ABg75*5&+?|X`nseu%p2$`llHcVn?&sVvVAIH@v?HP>5i=!u;Y}
z_v&QM_D!-nY09LYokh$!Si2$Hv8dbOK0c3^9Z5Ef&957Yy==xCT3_VDI@ewc1x-)6
zhEPGwLX(4pi2kZ93qg)sQ{v5ao?YP~i+}eq3@*1yzow}cWHnD8z#(^^+8W!|k<nm@
zD+fq$Gn3NWp)T#fy*f|&W_M^yr7~slV0}Uux@3K`qYTK?*?09VM8N$@WDC^`7+)Z|
z$5D*z)QJwRclj%@{eWdsaX6SrF`Gvf(+tTxSISMUig#b)&|17NH!-@g;8&D-rL6T9
zHBxXYH5-w#@Cnjj#<>Ks#GhY7)}Jt(d-;Li6t<e5m*5Y;$t`H1A@4g-FRB{ThcMGJ
zA3<3!K4>n9GCC(d!<To_P4~m7t{47df0sLhgO&X@EnsUL{rfVhW6pRjyM<rN=}SaU
zcC-!t{TUh=VnU@>Za+K<nNV~=gF9)M(YrpT2Nt%!q+fO8vjpg5_#PK@aXE{gKF|AB
zVd5A-iz5z(0k-CJTm@uVy-y6Hzj_{B++T+{cOk#bk-^DVPu6#%+bOMWC`Eu@K)p68
z2uS=0NrXojtG_Y*v8;z}<Yo4O!Vi*d%GX8`9*uFDWLME;i~TDfw*ksY$NRaN3AvqP
z+ahQQL?Bb&qbASod=O<r?W{M;fS>NL)3V}6Q+s|1HnuYghYued<x&)HjY0-|Us+7B
zxz%8glfy>?oSee^M9zN4x~sv*H2wg0q)*O>b20&N-xTmsY_mc44<p~I(r+pbK1Gaj
zpuclT+DGLS$Dj(j3xFB!&@-v}<%RH_4qa`X)2Q{Z0JD-UWyjuFov(UKq`T7!icF{F
z+-N(nK(j$;e2s$Z;4Mon^RDFrr4QoIZz^B(<ZYPf%}IBoC2l=Iqko&s%a81e8@i<x
zgY>fW+k0m4;%Rh~UCKSI{^I3U6cXt+KAuxo5d*Fr`u<0S2}+n)m>!ME){KRnSx<k@
zN)xa0(l>8tPtH$-T?uBl0m<Kg$#&GOi8yg0;4XKe;|0Y(EUEKwTu=EjV>o9`nIj!D
z_AFE;tlDx=EImA(+?G~hzCQ>I^6V|TQL(bUTvQ4dV}Bp?OT2p&CS=yiL3Nfkes*d+
z>#1O5J`Yt~d@rssz<t7X+ng+CTxnd8+y3ECkhgh7Zp~}+)q{miJH=G2f7s|Qf{J^a
zmYzXE)Aah3CvW++64CsyLjl{{)tMT>CngdCc|%B#fWi)%4~S3C$ps5=L~m7Q!6FkP
zt}0Gja$daTlI26CG6zL^G(`TlbsNTiw&`vr1Pe=0b~)iIYf?fIqRMrxI|335|GJyx
z4@;|yDRv)N>QX3+`7g1nCEFj5R>|p~$?x$#2fucSh&yE3q+>_zQT!dg_Hs)D&1NJo
zjO?Rv6Q0XHFG;&PK$XS}HeoKd$+;bRA{7<ybrQ0SS!$SQ1gn6J^x~r%b7Xp*H|t}Z
z#L2Z0n=pI#k99`ZbmlfxZv@{kCy}V51+4YL1AWpfcDS+o>Ijci&w>4h#TXqB=P{xB
zIB`ep0CiirV56L>eju$YIJV6W3a29h_+_=7@daX-(bePoakUczfrrpG|F_FNp{7ai
ze-(NyL^tuDK)c%0x-8l+CUYGje6XyJ@aySjtJZp(!X}9aL>3n{DM}+(zx{mYUnvKM
z&zIQlYT4z>hSo|5sr2=5e7d+fS{Dug=h-NY#hHfBb_dw4VB?o;PI?)tvA`;1wk3+y
zb2jg#=d+Q!XZ{W%1*#kmU3W`eWUCWv=&GD)HS79a&Wg<`;8c0XzCuCu!$ZiU-<PL^
z+B((VB18PX0s9x_V`6%X6jL|v8|rF<9IMxFGU1_z=jYxiV0spr#=$B%d)Nw>lvOzN
z(#>(RVz}pF=<|jLkD2Cgp6F+N-WmMsGYgRA6yx@@XQd4YFf8989Y10hl&4EK-5D{u
zyw9uSsy#;v;=)x9xqc@TU2MF*{+j%yFSl$b={K)HdGQOT5RlKNAlvlgndV?KoW8mF
z*(=srJM0mndg~SS_q^lG`+!U&|M-264zhxpMWx_B>KAIFbqs`p*BSuVDJdI|o3Oy|
z`}>}}M84l6uUh5Q7{)P0VxChH4~e5258@Yp;YM%LTxTKh0192mP45Z&iA!S%0~Qq7
zK0-ckd#N*+&)TIxN=<}X&GBtwuD%tMadNJ&scO5NEgI2W)!pfgl>a9~T~g(xynWo?
z9Ij1zDJCQUN)7F9+oab2Ahu%SfVvG`#diKzhW(L;v)7^c7vp3d#FrWIiwE*;6E^NF
zdVnQ`riB_h`6_(&d`>5tpmfTlmX>0q&%zd54Xl$MpmgYcnldP+Gx#?<9#TU)6pXg|
zGx<dbDeX2>S>j3&NEbQSetxhtBoOMO^D~ug>H=1AaYS+<DiXTA+XCgrS;gqg>mRe4
z5LekFj%UGmX1zHwN;V&u$VHcJmS0w|kxCX`TwP+BG@zr86|<E|b{%dlc#EzMK{k_P
zTfyYszP}~v80EeeuaszrE}I3}Zj48lpjg`~*_8~|{L8HJV`x+dV!bnuNFqETxR4KM
zKna>(5qDjZ(mIvQsXDY0Ps{c&Ce_<Pw>jmWD#^o&*#GE$A+L@*U0v(bL-6%@zfxJV
zHv|`x+*ztHCkx0IZ#Tt4;}sbw9>&m!g|L(y1#RTU8hbk$Rdv>|kltCbr&Qcy+y1La
ze*Vy96^7<4KFOj{CGln%<dGlOOP7G8AL9ze`WGHhrP8Pl1#J(-3?@9Hy{G2S{WEqy
z^WbiscS2OUL5R<U!x`V_eU1xWtv$KhoMUn?ZL!YLawcEY;t6ureIJr{=k+2@=J7fy
zUS-W>dG<HotQqszJD)E$OTS2H7*Q*9J%$g&*KUN{p<0Zf|AbnS8vV>tbVMLYXX&C7
z^rpPD<}X`$8?_66*jFR9obbEz0$Wl&4~lCkUw%3&h3z^~ee`YFxe6vD(Zu-AbT&#h
zJ(7n`)}=9;{}QD3cLBd6_ly0v`k&E%3oK;meaMBE!#Vn{A0|LsLtnj7)jsNf0AZ5&
ACIA2c

literal 0
HcmV?d00001

diff --git a/pps_wiki/setup.md b/pps_wiki/setup.md
index 19bba96e..3b92d36a 100644
--- a/pps_wiki/setup.md
+++ b/pps_wiki/setup.md
@@ -77,18 +77,23 @@ Then go to the _IPv4 Settings_ and choose **Manual** as the _Method_ and then ad
 **Don't forget to choose the Vicon network manually if you choose to enable WiFi and Ethernet simultaneously as described below!**
 
 <br>
+
 ### Vicon, teacher and students
 During installation process is the IP address of the teacher set to 10.42.0.10. (This value is written to the /etc/hosts file such that this IP address is accessible through the keyword _teacher_) <br>
 Have a look at `Config.sh` in `~/pps_ws/src/d_fall_pps/launch/`
-<br><img src="./pics/setup_pics/configsh1.png" style="width: 500px;"/> <br>
+<br><img src="./pics/setup_pics/configsh2.png" style="width: 500px;"/> <br>
 Here you see, that the ROS Master URI is set to be the teacher. This means that _roscore_ runs only on the teacher's computer. Your own IP address (_ROS IP_) is also set and taken from your Ethernet settings as defined in the section _Setting up the Vicon network_.
 <br>
+
+### IP-Addresses
+Currently the teacher's IP is ``10.42.0.10`` and the student's IP are of the format ``10.42.0.xx``, where xx is an unused address.
+
 ### Using WLAN and Vicon simultaneously
 Without some adjustments it is not possible to use an Ethernet and a wireless network at the same time. Vicon is connected via cable and therefore wouldn't allow a connection to the Internet. Because it's tedious to always unplug the cable just to be able to look something up on Google, we provide an explanation on how to enable simultaneous usage of WLAN and Vicon. <br>
 **But careful: If you enable this setting you have to choose the Vicon network manually. This is a common mistake! You will get an error if the cable is inserted but not manually chosen as shown in the picture below.**
 <br><img src="./pics/setup_pics/chooseVicon.jpg" style="width: 500px;"/> <br>
 #### Step by Step:
-Ubuntu allows multiple connections by default, but sometimes, we need to specify which one to use. In your comments, you have mentioned that you use LAN for the Intranet and WiFi for the Internet.
+Ubuntu allows multiple connections by default, but sometimes, we need to specify which one to use. Here we use LAN for the Intranet and WiFi for the Internet.
 
 So, firstly search for Network Connections in the unity dash. Then, under the Ethernet section, click 'Add' button.
 <br><img src="./pics/setup_pics/internetethernet1.png" style="width: 500px;"/> <br>
-- 
GitLab