Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
        - /Grid1
        - /TF1
        - /TF1/Frames1
        - /Submaps1
        - /Submaps1/Submaps1
        - /PointCloud21
        - /Path1
        - /Path2
        - /Path3
      Splitter Ratio: 0.600670993
    Tree Height: 665
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.588679016
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: PointCloud2
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.0299999993
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 100
      Reference Frame: <Fixed Frame>
      Value: true
    - Class: rviz/TF
      Enabled: true
      Frame Timeout: 15
      Frames:
        All Enabled: true
        laser:
          Value: true
        map:
          Value: true
      Marker Scale: 1
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: true
      Tree:
        map:
          laser:
            {}
      Update Interval: 0
      Value: true
    - Class: Submaps
      Enabled: true
      Fade-out distance: 1
      High Resolution: true
      Low Resolution: false
      Name: Submaps
      Submap query service: /submap_query
      Submaps:
        All: true
        All Submap Pose Markers: false
        Trajectory 0:
          0.180: true
          1.180: true
          2.180: true
          3.180: true
          4.180: true
          5.180: true
          6.180: true
          7.152: true
          8.62: true
          Submap Pose Markers: false
          Value: true
        Trajectory 1:
          0.180: true
          1.180: true
          2.180: true
          3.180: true
          4.180: true
          5.121: true
          6.31: true
          Submap Pose Markers: false
          Value: true
        Trajectory 2:
          0.180: true
          1.180: true
          2.180: true
          3.180: true
          4.95: true
          5.5: true
          Submap Pose Markers: false
          Value: true
        Trajectory 3:
          2.180: true
          3.146: true
          4.56: true
          Submap Pose Markers: false
          Value: true
      Topic: /submap_list
      Tracking frame: base_link
      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/PointCloud2
      Color: 0; 255; 0
      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: PointCloud2
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.0500000007
      Style: Flat Squares
      Topic: /scan_matched_points2
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Alpha: 1
      Buffer Length: 1
      Class: rviz/Path
      Color: 255; 0; 0
      Enabled: true
      Head Diameter: 0.300000012
      Head Length: 0.200000003
      Length: 0.300000012
      Line Style: Lines
      Line Width: 0.0299999993
      Name: Path
      Offset:
        X: 0
        Y: 0
        Z: 0
      Pose Color: 255; 85; 255
      Pose Style: None
      Radius: 0.0299999993
      Shaft Diameter: 0.100000001
      Shaft Length: 0.100000001
      Topic: /get_plan_center
      Unreliable: false
      Value: true
    - Alpha: 1
      Buffer Length: 1
      Class: rviz/Path
      Color: 0; 0; 255
      Enabled: true
      Head Diameter: 0.300000012
      Head Length: 0.200000003
      Length: 0.300000012
      Line Style: Billboards
      Line Width: 0.0299999993
      Name: Path
      Offset:
        X: 0
        Y: 0
        Z: 0
      Pose Color: 255; 85; 255
      Pose Style: None
      Radius: 0.0299999993
      Shaft Diameter: 0.100000001
      Shaft Length: 0.100000001
      Topic: /get_plan_left
      Unreliable: false
      Value: true
    - Alpha: 1
      Buffer Length: 1
      Class: rviz/Path
      Color: 7; 76; 0
      Enabled: true
      Head Diameter: 0.300000012
      Head Length: 0.200000003
      Length: 0.300000012
      Line Style: Billboards
      Line Width: 0.0299999993
      Name: Path
      Offset:
        X: 0
        Y: 0
        Z: 0
      Pose Color: 255; 85; 255
      Pose Style: None
      Radius: 0.0299999993
      Shaft Diameter: 0.100000001
      Shaft Length: 0.100000001
      Topic: /get_plan_right
      Unreliable: false
      Value: true
  Enabled: true
  Global Options:
    Background Color: 100; 100; 100
    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
      Topic: /initialpose
    - Class: rviz/SetGoal
      Topic: /move_base_simple/goal
    - Class: rviz/PublishPoint
      Single click: true
      Topic: /clicked_point
  Value: true
  Views:
    Current:
      Angle: 4.52497911
      Class: rviz/TopDownOrtho
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.0599999987
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.00999999978
      Scale: 123.036598
      Target Frame: <Fixed Frame>
      Value: TopDownOrtho (rviz)
      X: 0.698901951
      Y: -0.395434648
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 946
  Hide Left Dock: false
  Hide Right Dock: false
  QMainWindow State: 000000ff00000000fd0000000400000000000001c900000328fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000328000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000328fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000328000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006370000003efc0100000002fb0000000800540069006d00650100000000000006370000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003530000032800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 1591
  X: 65
  Y: 38
