Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /TF1
        - /TF1/Frames1
        - /TF1/Frames1/base_link1
        - /PointCloud22
        - /Submaps1
        - /PointCloud23
        - /PointCloud23/Autocompute Value Bounds1
      Splitter Ratio: 0.600670993
    Tree Height: 747
  - 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
        base_link:
          Value: true
        horizontal_vlp16_link:
          Value: true
        imu_link:
          Value: true
        map:
          Value: true
        odom:
          Value: true
        vertical_vlp16_link:
          Value: true
      Marker Scale: 1
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: true
      Tree:
        map:
          odom:
            base_link:
              horizontal_vlp16_link:
                {}
              imu_link:
                {}
              vertical_vlp16_link:
                {}
      Update Interval: 0
      Value: true
    - 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
        horizontal_vlp16_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        imu_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        vertical_vlp16_link:
          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
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 7.62650013
        Min Value: 5.66666985
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/PointCloud2
      Color: 20; 220; 20
      Color Transformer: FlatColor
      Decay Time: 0.100000001
      Enabled: false
      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: 200
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.0299999993
      Style: Flat Squares
      Topic: /horizontal_laser_3d
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: false
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 5.6086998
        Min Value: 3.77874994
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/PointCloud2
      Color: 240; 220; 20
      Color Transformer: FlatColor
      Decay Time: 0.100000001
      Enabled: true
      Invert Rainbow: true
      Max Color: 255; 255; 255
      Max Intensity: 4096
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: PointCloud2
      Position Transformer: XYZ
      Queue Size: 200
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.0299999993
      Style: Flat Squares
      Topic: /vertical_laser_3d
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      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: true
        Trajectory 0:
          0.320: true
          1.320: true
          10.320: true
          100.320: true
          101.320: true
          102.320: true
          103.320: true
          104.320: true
          105.320: true
          106.320: true
          107.320: true
          108.320: true
          109.320: true
          11.320: true
          110.320: true
          111.320: true
          112.320: true
          113.320: true
          114.320: true
          115.320: true
          116.320: true
          117.320: true
          118.320: true
          119.320: true
          12.320: true
          120.320: true
          121.320: true
          122.320: true
          123.320: true
          124.320: true
          125.320: true
          126.320: true
          127.320: true
          128.320: true
          129.320: true
          13.320: true
          130.320: true
          131.320: true
          132.320: true
          133.320: true
          134.257: true
          135.97: true
          14.320: true
          15.320: true
          16.320: true
          17.320: true
          18.320: true
          19.320: true
          2.320: true
          20.320: true
          21.320: true
          22.320: true
          23.320: true
          24.320: true
          25.320: true
          26.320: true
          27.320: true
          28.320: true
          29.320: true
          3.320: true
          30.320: true
          31.320: true
          32.320: true
          33.320: true
          34.320: true
          35.320: true
          36.320: true
          37.320: true
          38.320: true
          39.320: true
          4.320: true
          40.320: true
          41.320: true
          42.320: true
          43.320: true
          44.320: true
          45.320: true
          46.320: true
          47.320: true
          48.320: true
          49.320: true
          5.320: true
          50.320: true
          51.320: true
          52.320: true
          53.320: true
          54.320: true
          55.320: true
          56.320: true
          57.320: true
          58.320: true
          59.320: true
          6.320: true
          60.320: true
          61.320: true
          62.320: true
          63.320: true
          64.320: true
          65.320: true
          66.320: true
          67.320: true
          68.320: true
          69.320: true
          7.320: true
          70.320: true
          71.320: true
          72.320: true
          73.320: true
          74.320: true
          75.320: true
          76.320: true
          77.320: true
          78.320: true
          79.320: true
          8.320: true
          80.320: true
          81.320: true
          82.320: true
          83.320: true
          84.320: true
          85.320: true
          86.320: true
          87.320: true
          88.320: true
          89.320: true
          9.320: true
          90.320: true
          91.320: true
          92.320: true
          93.320: true
          94.320: true
          95.320: true
          96.320: true
          97.320: true
          98.320: true
          99.320: true
          Submap Pose Markers: true
          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: false
      Axis: Z
      Channel Name: intensity
      Class: rviz/PointCloud2
      Color: 0; 255; 0
      Color Transformer: AxisColor
      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: 20
      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
    - Class: rviz/MarkerArray
      Enabled: true
      Marker Topic: /trajectory_node_list
      Name: Trajectories
      Namespaces:
        Trajectory 0: true
      Queue Size: 100
      Value: true
    - Class: rviz/MarkerArray
      Enabled: true
      Marker Topic: /landmark_poses_list
      Name: Landmark Poses
      Namespaces:
        {}
      Queue Size: 100
      Value: true
    - Class: rviz/MarkerArray
      Enabled: false
      Marker Topic: /constraint_list
      Name: Constraints
      Namespaces:
        {}
      Queue Size: 100
      Value: false
  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: -6.29500818
      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: 8.59699154
      Target Frame: <Fixed Frame>
      Value: TopDownOrtho (rviz)
      X: 0.131796986
      Y: -22.5447807
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 1028
  Hide Left Dock: false
  Hide Right Dock: false
  QMainWindow State: 000000ff00000000fd0000000400000000000001c50000037afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000037a000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000037afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007301000000280000037a000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000045f0000037a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 1855
  X: 65
  Y: 24
