Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
      Splitter Ratio: 0.5
    Tree Height: 565
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.588679
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: ""
Visualization Manager:
  Class: ""
  Displays:
  - Alpha: 0.5
    Cell Size: 0.5
    Class: rviz/Grid
    Color: 160; 160; 164
    Enabled: true
    Line Style:
    Line Width: 0.03
    Value: Lines
    Name: Grid
    Normal Cell Count: 0
    Offset:
      X: 0
      Y: 0
      Z: 0
    Plane: XY
    Plane Cell Count: 20
    Reference Frame: odom
    Value: true
  - Angle Tolerance: 0.05
    Class: rviz/Odometry
    Color: 221; 200; 14
    Enabled: true
    Keep: 100
    Length: 0.6
    Name: Odometry
    Position Tolerance: 0.1
    Topic: /odom
    Value: true
  - Angle Tolerance: 0.1
    Class: rviz/Odometry
    Color: 253; 124; 0
    Enabled: false
    Keep: 100
    Length: 0.6
    Name: Odometry EKF
    Position Tolerance: 0.1
    Topic: /odom
    Value: false
  - Alpha: 1
    Class: rviz/RobotModel
    Collision Enabled: false
    Enabled: true
    Links:
      All Links Enabled: true
      Expand Joint Details: false
      Expand Link Details: false
      Expand Tree: false
      Link Tree Style: Links in Alphabetic Order
      base_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      left_front_wheel:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      right_front_wheel:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      left_back_wheel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
      right_back_wheel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
    Name: RobotModel
    Robot Description: robot_description
    TF Prefix: ""
    Update Interval: 0
    Value: true
    Visual Enabled: true
  Enabled: true
  Global Options:
    Background Color: 31; 31; 31
    Fixed Frame: odom
    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
      Topic: /initialpose
    - 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: 10
      Focal Point:
        X: 0
        Y: 0
        Z: 0
      Name: Current View
      Near Clip Distance: 0.01
      Pitch: 0.465398
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 0.885398
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 882
  Hide Left Dock: false
  Hide Right Dock: false
  QMainWindow State: 000000ff00000000fd00000004000000000000013c000002c4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002c4000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000002c4000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000259000002c400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 1216
  X: 53
  Y: 60
