Panels:
  - Class: rviz_common/Displays
    Help Height: 0
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /TF1/Frames1
        - /TF1/Tree1
      Splitter Ratio: 0.5833333134651184
    Tree Height: 462
  - Class: rviz_common/Selection
    Name: Selection
  - Class: rviz_common/Tool Properties
    Expanded:
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.5886790156364441
  - Class: rviz_common/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: nav2_rviz_plugins/Navigation 2
    Name: Navigation 2
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz_default_plugins/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: 10
      Reference Frame: <Fixed Frame>
      Value: true
    - Alpha: 1
      Class: rviz_default_plugins/RobotModel
      Collision Enabled: false
      Description File: ""
      Description Source: Topic
      Description Topic:
        Depth: 5
        Durability Policy: Volatile
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /robot_description
      Enabled: false
      Links:
        All Links Enabled: true
        Expand Joint Details: false
        Expand Link Details: false
        Expand Tree: false
        Link Tree Style: ""
      Mass Properties:
        Inertia: false
        Mass: false
      Name: RobotModel
      TF Prefix: ""
      Update Interval: 0
      Value: false
      Visual Enabled: true
    - Class: rviz_default_plugins/TF
      Enabled: true
      Frame Timeout: 15
      Frames:
        All Enabled: false
        base_footprint:
          Value: true
        base_link:
          Value: true
        camera_link:
          Value: true
        imu_link:
          Value: true
        laser_frame:
          Value: true
        map:
          Value: true
        odom:
          Value: true
        wheel_1:
          Value: true
        wheel_2:
          Value: true
        wheel_3:
          Value: true
        wheel_4:
          Value: true
      Marker Scale: 1
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: false
      Tree:
        map:
          odom:
            base_footprint:
              base_link:
                camera_link:
                  {}
                imu_link:
                  {}
                laser_frame:
                  {}
                wheel_1:
                  {}
                wheel_2:
                  {}
                wheel_3:
                  {}
                wheel_4:
                  {}
      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_default_plugins/LaserScan
      Color: 255; 255; 255
      Color Transformer: Intensity
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 0
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: LaserScan
      Position Transformer: XYZ
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.009999999776482582
      Style: Points
      Topic:
        Depth: 5
        Durability Policy: Volatile
        Filter size: 10
        History Policy: Keep Last
        Reliability Policy: Best Effort
        Value: /scan
      Use Fixed Frame: true
      Use rainbow: true
      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_default_plugins/PointCloud2
      Color: 255; 255; 255
      Color Transformer: ""
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 4096
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: Bumper Hit
      Position Transformer: ""
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.07999999821186066
      Style: Spheres
      Topic:
        Depth: 5
        Durability Policy: Volatile
        Filter size: 10
        History Policy: Keep Last
        Reliability Policy: Best Effort
        Value: /mobile_base/sensors/bumper_pointcloud
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Alpha: 1
      Class: rviz_default_plugins/Map
      Color Scheme: map
      Draw Behind: true
      Enabled: true
      Name: Map
      Topic:
        Depth: 1
        Durability Policy: Transient Local
        Filter size: 10
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /map
      Update Topic:
        Depth: 5
        Durability Policy: Volatile
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /map_updates
      Use Timestamp: false
      Value: true
    - Alpha: 1
      Class: nav2_rviz_plugins/ParticleCloud
      Color: 0; 180; 0
      Enabled: true
      Max Arrow Length: 0.30000001192092896
      Min Arrow Length: 0.019999999552965164
      Name: Amcl Particle Swarm
      Shape: Arrow (Flat)
      Topic:
        Depth: 5
        Durability Policy: Volatile
        Filter size: 10
        History Policy: Keep Last
        Reliability Policy: Best Effort
        Value: /particle_cloud
      Value: true
    - Class: rviz_common/Group
      Displays:
        - Alpha: 0.30000001192092896
          Class: rviz_default_plugins/Map
          Color Scheme: costmap
          Draw Behind: false
          Enabled: true
          Name: Global Costmap
          Topic:
            Depth: 1
            Durability Policy: Transient Local
            Filter size: 10
            History Policy: Keep Last
            Reliability Policy: Reliable
            Value: /global_costmap/costmap
          Update Topic:
            Depth: 5
            Durability Policy: Volatile
            History Policy: Keep Last
            Reliability Policy: Reliable
            Value: /global_costmap/costmap_updates
          Use Timestamp: false
          Value: true
        - Alpha: 0.30000001192092896
          Class: rviz_default_plugins/Map
          Color Scheme: costmap
          Draw Behind: false
          Enabled: true
          Name: Downsampled Costmap
          Topic:
            Depth: 1
            Durability Policy: Transient Local
            Filter size: 10
            History Policy: Keep Last
            Reliability Policy: Reliable
            Value: /downsampled_costmap
          Update Topic:
            Depth: 5
            Durability Policy: Volatile
            History Policy: Keep Last
            Reliability Policy: Reliable
            Value: /downsampled_costmap_updates
          Use Timestamp: false
          Value: true
        - Alpha: 1
          Buffer Length: 1
          Class: rviz_default_plugins/Path
          Color: 255; 0; 0
          Enabled: true
          Head Diameter: 0.019999999552965164
          Head Length: 0.019999999552965164
          Length: 0.30000001192092896
          Line Style: Lines
          Line Width: 0.029999999329447746
          Name: Path
          Offset:
            X: 0
            Y: 0
            Z: 0
          Pose Color: 255; 85; 255
          Pose Style: Arrows
          Radius: 0.029999999329447746
          Shaft Diameter: 0.004999999888241291
          Shaft Length: 0.019999999552965164
          Topic:
            Depth: 5
            Durability Policy: Volatile
            Filter size: 10
            History Policy: Keep Last
            Reliability Policy: Reliable
            Value: /plan
          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_default_plugins/PointCloud2
          Color: 125; 125; 125
          Color Transformer: FlatColor
          Decay Time: 0
          Enabled: true
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Max Intensity: 4096
          Min Color: 0; 0; 0
          Min Intensity: 0
          Name: VoxelGrid
          Position Transformer: XYZ
          Selectable: true
          Size (Pixels): 3
          Size (m): 0.05000000074505806
          Style: Boxes
          Topic:
            Depth: 5
            Durability Policy: Volatile
            Filter size: 10
            History Policy: Keep Last
            Reliability Policy: Reliable
            Value: /global_costmap/voxel_marked_cloud
          Use Fixed Frame: true
          Use rainbow: true
          Value: true
        - Alpha: 1
          Class: rviz_default_plugins/Polygon
          Color: 25; 255; 0
          Enabled: false
          Name: Polygon
          Topic:
            Depth: 5
            Durability Policy: Volatile
            Filter size: 10
            History Policy: Keep Last
            Reliability Policy: Reliable
            Value: /global_costmap/published_footprint
          Value: false
      Enabled: true
      Name: Global Planner
    - Class: rviz_common/Group
      Displays:
        - Alpha: 0.699999988079071
          Class: rviz_default_plugins/Map
          Color Scheme: costmap
          Draw Behind: false
          Enabled: true
          Name: Local Costmap
          Topic:
            Depth: 1
            Durability Policy: Transient Local
            Filter size: 10
            History Policy: Keep Last
            Reliability Policy: Reliable
            Value: /local_costmap/costmap
          Update Topic:
            Depth: 5
            Durability Policy: Volatile
            History Policy: Keep Last
            Reliability Policy: Reliable
            Value: /local_costmap/costmap_updates
          Use Timestamp: false
          Value: true
        - Alpha: 1
          Buffer Length: 1
          Class: rviz_default_plugins/Path
          Color: 0; 12; 255
          Enabled: true
          Head Diameter: 0.30000001192092896
          Head Length: 0.20000000298023224
          Length: 0.30000001192092896
          Line Style: Lines
          Line Width: 0.029999999329447746
          Name: Local 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:
            Depth: 5
            Durability Policy: Volatile
            Filter size: 10
            History Policy: Keep Last
            Reliability Policy: Reliable
            Value: /local_plan
          Value: true
        - Class: rviz_default_plugins/MarkerArray
          Enabled: false
          Name: Trajectories
          Namespaces:
            {}
          Topic:
            Depth: 5
            Durability Policy: Volatile
            History Policy: Keep Last
            Reliability Policy: Reliable
            Value: /marker
          Value: false
        - Alpha: 1
          Class: rviz_default_plugins/Polygon
          Color: 25; 255; 0
          Enabled: true
          Name: Polygon
          Topic:
            Depth: 5
            Durability Policy: Volatile
            Filter size: 10
            History Policy: Keep Last
            Reliability Policy: Reliable
            Value: /local_costmap/published_footprint
          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_default_plugins/PointCloud2
          Color: 255; 255; 255
          Color Transformer: RGB8
          Decay Time: 0
          Enabled: true
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Max Intensity: 4096
          Min Color: 0; 0; 0
          Min Intensity: 0
          Name: VoxelGrid
          Position Transformer: XYZ
          Selectable: true
          Size (Pixels): 3
          Size (m): 0.009999999776482582
          Style: Flat Squares
          Topic:
            Depth: 5
            Durability Policy: Volatile
            Filter size: 10
            History Policy: Keep Last
            Reliability Policy: Reliable
            Value: /local_costmap/voxel_marked_cloud
          Use Fixed Frame: true
          Use rainbow: true
          Value: true
      Enabled: true
      Name: Controller
    - Class: rviz_common/Group
      Displays:
        - Class: rviz_default_plugins/Image
          Enabled: true
          Max Value: 1
          Median window: 5
          Min Value: 0
          Name: RealsenseCamera
          Normalize Range: true
          Topic:
            Depth: 5
            Durability Policy: Volatile
            History Policy: Keep Last
            Reliability Policy: Reliable
            Value: /intel_realsense_r200_depth/image_raw
          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_default_plugins/PointCloud2
          Color: 255; 255; 255
          Color Transformer: RGB8
          Decay Time: 0
          Enabled: true
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Max Intensity: 4096
          Min Color: 0; 0; 0
          Min Intensity: 0
          Name: RealsenseDepthImage
          Position Transformer: XYZ
          Selectable: true
          Size (Pixels): 3
          Size (m): 0.009999999776482582
          Style: Flat Squares
          Topic:
            Depth: 5
            Durability Policy: Volatile
            Filter size: 10
            History Policy: Keep Last
            Reliability Policy: Reliable
            Value: /intel_realsense_r200_depth/points
          Use Fixed Frame: true
          Use rainbow: true
          Value: true
      Enabled: false
      Name: Realsense
    - Class: rviz_default_plugins/MarkerArray
      Enabled: true
      Name: MarkerArray
      Namespaces:
        {}
      Topic:
        Depth: 5
        Durability Policy: Volatile
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /waypoints
      Value: true
    - Alpha: 1
      Buffer Length: 1
      Class: rviz_default_plugins/Path
      Color: 25; 255; 0
      Enabled: true
      Head Diameter: 0.30000001192092896
      Head Length: 0.20000000298023224
      Length: 0.30000001192092896
      Line Style: Lines
      Line Width: 0.029999999329447746
      Name: Path
      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:
        Depth: 5
        Durability Policy: Volatile
        Filter size: 10
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /local_plan
      Value: true
    - Alpha: 1
      Buffer Length: 1
      Class: rviz_default_plugins/Path
      Color: 25; 255; 0
      Enabled: true
      Head Diameter: 0.30000001192092896
      Head Length: 0.20000000298023224
      Length: 0.30000001192092896
      Line Style: Lines
      Line Width: 0.029999999329447746
      Name: Path
      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:
        Depth: 5
        Durability Policy: Volatile
        Filter size: 10
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /lookahead_collision_arc
      Value: true
    - Alpha: 1
      Class: rviz_default_plugins/PointStamped
      Color: 204; 41; 204
      Enabled: true
      History Length: 1
      Name: PointStamped
      Radius: 0.20000000298023224
      Topic:
        Depth: 5
        Durability Policy: Volatile
        Filter size: 10
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /lookahead_point
      Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Fixed Frame: map
    Frame Rate: 30
  Name: root
  Tools:
    - Class: rviz_default_plugins/MoveCamera
    - Class: rviz_default_plugins/Select
    - Class: rviz_default_plugins/FocusCamera
    - Class: rviz_default_plugins/Measure
      Line color: 128; 128; 0
    - Class: rviz_default_plugins/SetInitialPose
      Covariance x: 0.25
      Covariance y: 0.25
      Covariance yaw: 0.06853891909122467
      Topic:
        Depth: 5
        Durability Policy: Volatile
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /initialpose
    - Class: rviz_default_plugins/PublishPoint
      Single click: true
      Topic:
        Depth: 5
        Durability Policy: Volatile
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /clicked_point
    - Class: nav2_rviz_plugins/GoalTool
  Transformation:
    Current:
      Class: rviz_default_plugins/TF
  Value: true
  Views:
    Current:
      Angle: -1.5707999467849731
      Class: rviz_default_plugins/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: 249.39932250976562
      Target Frame: <Fixed Frame>
      Value: TopDownOrtho (rviz_default_plugins)
      X: 0.8555871248245239
      Y: -4.082614421844482
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 932
  Hide Left Dock: false
  Hide Right Dock: true
  Navigation 2:
    collapsed: false
  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000034afc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000020b000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e0061007600690067006100740069006f006e00200032010000024e000001390000012600fffffffb0000001e005200650061006c00730065006e0073006500430061006d00650072006100000002c6000000c10000002800ffffff000000010000010f0000034afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000034a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004990000034a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  RealsenseCamera:
    collapsed: false
  Selection:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 1545
  X: 2193
  Y: 120