Panels: - Class: rviz/Displays Help Height: 78 Name: Displays Property Tree Widget: Expanded: - /TF1/Frames1 - /TF1/Tree1 - /Global Map1/Costmap1 - /Global Map1/Planner1 - /Local Map1/Polygon1 - /Local Map1/Costmap1 - /Local Map1/Planner1 Splitter Ratio: 0.5 Tree Height: 798 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties Expanded: - /2D Pose Estimate1 - /2D Nav Goal1 Name: Tool Properties Splitter Ratio: 0.5886790156364441 - Class: rviz/Views Expanded: - /Current View1 Name: Views Splitter Ratio: 0.5 - Class: rviz/Time Experimental: false Name: Time SyncMode: 0 SyncSource: LaserScan 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: 20 Reference Frame: Value: true - Alpha: 1 Class: rviz/RobotModel Collision Enabled: false Enabled: false Links: All Links Enabled: true Expand Joint Details: false Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order Name: RobotModel Robot Description: robot_description TF Prefix: "" Update Interval: 0 Value: false Visual Enabled: true - Class: rviz/TF Enabled: true Frame Timeout: 15 Frames: All Enabled: false base_link: Value: true camera_front_base: Value: false camera_front_link: Value: false front_wheel_link: Value: true imu_link: Value: false laser_link: Value: false left_wheel_link: Value: true map: Value: true odom: Value: true right_wheel_link: Value: true universal_wheel_link: Value: false Marker Scale: 1 Name: TF Show Arrows: true Show Axes: true Show Names: false Tree: map: odom: base_link: camera_front_base: camera_front_link: {} imu_link: {} laser_link: {} left_wheel_link: {} right_wheel_link: {} universal_wheel_link: front_wheel_link: {} Update Interval: 0 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: 0; 255; 0 Color Transformer: FlatColor Decay Time: 0 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 13069 Min Color: 0; 0; 0 Min Intensity: 28 Name: LaserScan Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.030000001192092896 Style: Flat Squares Topic: /scan Unreliable: false Use Fixed Frame: true Use rainbow: true 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 - Alpha: 1 Buffer Length: 1 Class: rviz/Path Color: 0; 0; 0 Enabled: true Head Diameter: 0.30000001192092896 Head Length: 0.20000000298023224 Length: 0.30000001192092896 Line Style: Lines Line Width: 0.029999999329447746 Name: Planner Plan Offset: X: 0 Y: 0 Z: 0 Pose Color: 255; 85; 255 Pose Style: None Radius: 0.029999999329447746 Shaft Diameter: 0.10000000149011612 Shaft Length: 0.10000000149011612 Topic: /move_base/NavfnROS/plan Unreliable: false Value: true - Class: rviz/Group Displays: - Alpha: 0.699999988079071 Class: rviz/Map Color Scheme: costmap Draw Behind: true Enabled: true Name: Costmap Topic: /move_base/global_costmap/costmap Unreliable: false Use Timestamp: false 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: Planner Offset: X: 0 Y: 0 Z: 0 Pose Color: 255; 85; 255 Pose Style: None Radius: 0.029999999329447746 Shaft Diameter: 0.10000000149011612 Shaft Length: 0.10000000149011612 Topic: /move_base/DWAPlannerROS/global_plan Unreliable: false Value: true Enabled: true Name: Global Map - Class: rviz/Group Displays: - Alpha: 1 Class: rviz/Polygon Color: 0; 0; 0 Enabled: true Name: Polygon Topic: /move_base/local_costmap/footprint Unreliable: false Value: true - Alpha: 0.699999988079071 Class: rviz/Map Color Scheme: costmap Draw Behind: false Enabled: true Name: Costmap Topic: /move_base/local_costmap/costmap Unreliable: false Use Timestamp: false Value: true - Alpha: 1 Buffer Length: 1 Class: rviz/Path Color: 255; 255; 0 Enabled: true Head Diameter: 0.30000001192092896 Head Length: 0.20000000298023224 Length: 0.30000001192092896 Line Style: Lines Line Width: 0.029999999329447746 Name: Planner Offset: X: 0 Y: 0 Z: 0 Pose Color: 255; 85; 255 Pose Style: None Radius: 0.029999999329447746 Shaft Diameter: 0.10000000149011612 Shaft Length: 0.10000000149011612 Topic: /move_base/DWAPlannerROS/local_plan Unreliable: false Value: true Enabled: true Name: Local Map - Alpha: 1 Arrow Length: 0.05000000074505806 Axes Length: 0.30000001192092896 Axes Radius: 0.009999999776482582 Class: rviz/PoseArray Color: 0; 192; 0 Enabled: true Head Length: 0.07000000029802322 Head Radius: 0.029999999329447746 Name: Amcl Particles Shaft Length: 0.23000000417232513 Shaft Radius: 0.009999999776482582 Shape: Arrow (Flat) Topic: /particlecloud Unreliable: false Value: true - 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: Goal Shaft Length: 0.5 Shaft Radius: 0.05000000074505806 Shape: Arrow Topic: /move_base_simple/goal Unreliable: false Value: true Enabled: true Global Options: Background Color: 48; 48; 48 Default Light: true Fixed Frame: map Frame Rate: 30 Name: root Tools: - Class: rviz/MoveCamera - Class: rviz/Interact Hide Inactive Objects: true - Class: rviz/Select - 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/Measure Value: true Views: Current: Angle: 0.00420342106372118 Class: rviz/TopDownOrtho Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 Scale: 45.1125602722168 Target Frame: Value: TopDownOrtho (rviz) X: 2.0893993377685547 Y: 1.4856263399124146 Saved: ~ Window Geometry: Displays: collapsed: false Height: 1027 Hide Left Dock: false Hide Right Dock: true QMainWindow State: 000000ff00000000fd00000004000000000000018f000003a9fc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003a9000000c900fffffffb0000000a0049006d0061006700650000000317000000cc0000000000000000fb0000000a0049006d0061006700650000000318000000ce0000000000000000000000010000010f000003a0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000043000003a0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000036a000003a900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: collapsed: false Tool Properties: collapsed: false Views: collapsed: true Width: 1279 X: 0 Y: 0