Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
        - /TF1
        - /TF1/Frames1
      Splitter Ratio: 0.5
    Tree Height: 440
  - 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: ""
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: 0.0299999993
        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: 0.200000003
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 10
        Min Value: -10
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/LaserScan
      Color: 255; 0; 0
      Color Transformer: Intensity
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 0; 0
      Max Intensity: 4096
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: LaserScan
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: false
      Size (Pixels): 2
      Size (m): 0.00999999978
      Style: Points
      Topic: /scan
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: false
      Value: true
    - Class: rviz/TF
      Enabled: true
      Frame Timeout: 15
      Frames:
        All Enabled: true
      Marker Scale: 0.5
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: true
      Tree:
        {}
      Update Interval: 0
      Value: true
    - Alpha: 1
      Axes Length: 1
      Axes Radius: 0.100000001
      Class: rviz/PoseWithCovariance
      Color: 255; 25; 0
      Covariance:
        Orientation:
          Alpha: 0.5
          Color: 255; 255; 127
          Color Style: Unique
          Frame: Local
          Offset: 1
          Scale: 1
          Value: true
        Position:
          Alpha: 0.300000012
          Color: 204; 51; 204
          Scale: 1
          Value: true
        Value: true
      Enabled: true
      Head Length: 0.300000012
      Head Radius: 0.100000001
      Name: PoseWithCovariance
      Shaft Length: 1
      Shaft Radius: 0.0500000007
      Shape: Arrow
      Topic: /initialpose
      Unreliable: false
      Value: true
  Enabled: true
  Global Options:
    Background Color: 0; 0; 0
    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:
      Class: rviz/Orbit
      Distance: 32.1757889
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.0599999987
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 0.309846491
        Y: 0.025809139
        Z: 0.173483938
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.0500000007
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.00999999978
      Pitch: 1.56979632
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 3.17357063
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 721
  Hide Left Dock: false
  Hide Right Dock: true
  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000247fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000247000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000247fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000247000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004000000003efc0100000002fb0000000800540069006d00650100000000000004000000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000002900000024700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 1024
  X: 65
  Y: 24
