Panels:
  - Class: rviz/Displays
    Help Height: 81
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Local Planner1
        - /Local Planner1/LocalPath1
        - /Local Planner1/LocalCostmap1
        - /Global Planner1
        - /Global Planner1/GlobalPath1
        - /Robot1/TF1/Frames1
      Splitter Ratio: 0.6050959825515747
    Tree Height: 546
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.5886790156364441
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Name: Time
    SyncMode: 0
    SyncSource: ""
Preferences:
  PromptSaveOnExit: true
Toolbars:
  toolButtonStyle: 2
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.029999999329447746
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 50
      Reference Frame: <Fixed Frame>
      Value: true
    - Alpha: 0.699999988079071
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: true
      Name: Map
      Topic: /map
      Unreliable: false
      Use Timestamp: false
      Value: true
    - Class: rviz/Group
      Displays:
        - Alpha: 1
          Arrow Length: 0.30000001192092896
          Axes Length: 0.30000001192092896
          Axes Radius: 0.009999999776482582
          Class: rviz/PoseArray
          Color: 255; 25; 0
          Enabled: true
          Head Length: 0.07000000029802322
          Head Radius: 0.029999999329447746
          Name: TebPoses
          Queue Size: 10
          Shaft Length: 0.23000000417232513
          Shaft Radius: 0.009999999776482582
          Shape: Arrow (Flat)
          Topic: /move_base/TebLocalPlannerROS/teb_poses
          Unreliable: false
          Value: true
        - Class: rviz/Marker
          Enabled: true
          Marker Topic: /move_base/TebLocalPlannerROS/teb_markers
          Name: TebMarker
          Namespaces:
            {}
          Queue Size: 100
          Value: true
        - Alpha: 1
          Buffer Length: 1
          Class: rviz/Path
          Color: 255; 0; 0
          Enabled: true
          Head Diameter: 0.30000001192092896
          Head Length: 0.20000000298023224
          Length: 0.30000001192092896
          Line Style: Lines
          Line Width: 0.029999999329447746
          Name: LocalPath
          Offset:
            X: 0
            Y: 0
            Z: 0
          Pose Color: 255; 85; 255
          Pose Style: None
          Queue Size: 10
          Radius: 0.029999999329447746
          Shaft Diameter: 0.10000000149011612
          Shaft Length: 0.10000000149011612
          Topic: /move_base/DWAPlannerROS/local_plan
          Unreliable: false
          Value: true
        - Alpha: 0.4000000059604645
          Class: rviz/Map
          Color Scheme: costmap
          Draw Behind: false
          Enabled: true
          Name: LocalCostmap
          Topic: /move_base/local_costmap/costmap
          Unreliable: false
          Use Timestamp: false
          Value: true
      Enabled: true
      Name: Local Planner
    - Class: rviz/Group
      Displays:
        - Alpha: 1
          Buffer Length: 1
          Class: rviz/Path
          Color: 138; 226; 52
          Enabled: true
          Head Diameter: 0.30000001192092896
          Head Length: 0.20000000298023224
          Length: 0.30000001192092896
          Line Style: Lines
          Line Width: 0.029999999329447746
          Name: GlobalPath
          Offset:
            X: 0
            Y: 0
            Z: 0
          Pose Color: 255; 85; 255
          Pose Style: None
          Queue Size: 10
          Radius: 0.029999999329447746
          Shaft Diameter: 0.10000000149011612
          Shaft Length: 0.10000000149011612
          Topic: /move_base/DWAPlannerROS/global_plan
          Unreliable: false
          Value: true
        - Alpha: 0.699999988079071
          Class: rviz/Map
          Color Scheme: costmap
          Draw Behind: false
          Enabled: true
          Name: GlobalCostmap
          Topic: /move_base/global_costmap/costmap
          Unreliable: false
          Use Timestamp: false
          Value: true
      Enabled: true
      Name: Global Planner
    - Class: rviz/Group
      Displays:
        - Alpha: 1
          Class: rviz/Polygon
          Color: 85; 0; 255
          Enabled: true
          Name: Robot Footprint
          Queue Size: 10
          Topic: /move_base/local_costmap/footprint
          Unreliable: false
          Value: true
        - Alpha: 1
          Autocompute Intensity Bounds: true
          Autocompute Value Bounds:
            Max Value: 10
            Min Value: -10
            Value: true
          Axis: Z
          Channel Name: intensity
          Class: rviz/LaserScan
          Color: 25; 255; 0
          Color Transformer: FlatColor
          Decay Time: 0
          Enabled: true
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Min Color: 0; 0; 0
          Name: LaserScan
          Position Transformer: XYZ
          Queue Size: 10
          Selectable: true
          Size (Pixels): 3
          Size (m): 0.029999999329447746
          Style: Flat Squares
          Topic: /scan
          Unreliable: false
          Use Fixed Frame: true
          Use rainbow: true
          Value: true
        - Alpha: 1
          Arrow Length: 0.10000000149011612
          Axes Length: 0.30000001192092896
          Axes Radius: 0.009999999776482582
          Class: rviz/PoseArray
          Color: 138; 226; 52
          Enabled: true
          Head Length: 0.07000000029802322
          Head Radius: 0.029999999329447746
          Name: AMCL Particles
          Queue Size: 10
          Shaft Length: 0.23000000417232513
          Shaft Radius: 0.009999999776482582
          Shape: Arrow (Flat)
          Topic: /particlecloud
          Unreliable: false
          Value: true
        - Class: rviz/TF
          Enabled: true
          Filter (blacklist): ""
          Filter (whitelist): ""
          Frame Timeout: 15
          Frames:
            All Enabled: false
            base_link:
              Value: true
            body:
              Value: true
            camera_init:
              Value: true
            map:
              Value: true
          Marker Alpha: 1
          Marker Scale: 1
          Name: TF
          Show Arrows: true
          Show Axes: true
          Show Names: true
          Tree:
            map:
              camera_init:
                body:
                  base_link:
                    {}
          Update Interval: 0
          Value: true
        - Angle Tolerance: 0.10000000149011612
          Class: rviz/Odometry
          Covariance:
            Orientation:
              Alpha: 0.5
              Color: 255; 255; 127
              Color Style: Unique
              Frame: Local
              Offset: 1
              Scale: 1
              Value: true
            Position:
              Alpha: 0.30000001192092896
              Color: 204; 51; 204
              Scale: 1
              Value: true
            Value: true
          Enabled: false
          Keep: 100
          Name: Odometry
          Position Tolerance: 0.10000000149011612
          Queue Size: 10
          Shape:
            Alpha: 1
            Axes Length: 1
            Axes Radius: 0.10000000149011612
            Color: 255; 25; 0
            Head Length: 0.30000001192092896
            Head Radius: 0.10000000149011612
            Shaft Length: 1
            Shaft Radius: 0.05000000074505806
            Value: Arrow
          Topic: /odom
          Unreliable: false
          Value: false
      Enabled: true
      Name: Robot
    - Alpha: 1
      Axes Length: 1
      Axes Radius: 0.10000000149011612
      Class: rviz/Pose
      Color: 255; 25; 0
      Enabled: true
      Head Length: 0.30000001192092896
      Head Radius: 0.10000000149011612
      Name: Pose
      Queue Size: 10
      Shaft Length: 1
      Shaft Radius: 0.05000000074505806
      Shape: Arrow
      Topic: /move_base_simple/goal
      Unreliable: false
      Value: true
  Enabled: true
  Global Options:
    Background Color: 255; 255; 255
    Default Light: true
    Fixed Frame: map
    Frame Rate: 30
  Name: root
  Tools:
    - Class: rviz/Interact
      Hide Inactive Objects: true
    - Class: rviz/MoveCamera
    - Class: rviz/Select
    - Class: rviz/FocusCamera
    - Class: rviz/Measure
    - Class: rviz/SetInitialPose
      Theta std deviation: 0.2617993950843811
      Topic: /initialpose_ori
      X std deviation: 0.5
      Y std deviation: 0.5
    - Class: rviz/SetGoal
      Topic: /move_base_simple/goal
    - Class: rviz/PublishPoint
      Single click: true
      Topic: /clicked_point
  Value: true
  Views:
    Current:
      Class: rviz/Orbit
      Distance: 24.04271697998047
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Field of View: 0.7853981852531433
      Focal Point:
        X: 5.096089839935303
        Y: 0.6246999502182007
        Z: -1.3623613119125366
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Pitch: 1.5697963237762451
      Target Frame: <Fixed Frame>
      Yaw: 1.572244644165039
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 846
  Hide Left Dock: false
  Hide Right Dock: true
  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002c4000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004bf0000003efc0100000002fb0000000800540069006d00650100000000000004bf000003bc00fffffffb0000000800540069006d0065010000000000000450000000000000000000000363000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 1215
  X: 350
  Y: 92