Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /RobotModel1/Links1/base_footprint1
        - /Pose Array1
      Splitter Ratio: 0.652661
    Tree Height: 666
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
    Name: Tool Properties
    Splitter Ratio: 0.428571
  - 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: 0; 0; 0
      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: 80
      Reference Frame: odom
      Value: true
    - Angle Tolerance: 0.1
      Class: rviz/Odometry
      Color: 221; 200; 14
      Enabled: false
      Keep: 100
      Length: 0.6
      Name: Odometry
      Position Tolerance: 0.1
      Topic: /odom
      Value: false
    - Angle Tolerance: 0.1
      Class: rviz/Odometry
      Color: 255; 25; 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_footprint:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        camera_depth_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_depth_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        camera_rgb_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_rgb_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        front_wheel_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        gyro_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        laser:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        left_cliff_sensor_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        left_wheel_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        leftfront_cliff_sensor_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        plate_0_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        plate_1_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        plate_2_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        plate_3_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        rear_wheel_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        right_cliff_sensor_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        right_wheel_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        rightfront_cliff_sensor_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        spacer_0_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        spacer_1_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        spacer_2_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        spacer_3_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        standoff_2in_0_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        standoff_2in_1_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        standoff_2in_2_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        standoff_2in_3_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        standoff_2in_4_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        standoff_2in_5_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        standoff_2in_6_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        standoff_2in_7_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        standoff_8in_0_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        standoff_8in_1_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        standoff_8in_2_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        standoff_8in_3_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        standoff_kinect_0_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        standoff_kinect_1_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        wall_sensor_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
      Name: RobotModel
      Robot Description: robot_description
      TF Prefix: ""
      Update Interval: 0
      Value: true
      Visual Enabled: true
    - Alpha: 0.7
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: true
      Enabled: true
      Name: Map
      Topic: /map
      Value: true
    - Alpha: 1
      Buffer Length: 1
      Class: rviz/Path
      Color: 255; 0; 0
      Enabled: true
      Name: Local Plan
      Topic: /move_base/TrajectoryPlannerROS/local_plan
      Value: true
    - Alpha: 1
      Buffer Length: 1
      Class: rviz/Path
      Color: 0; 213; 0
      Enabled: true
      Name: Global Plan
      Topic: /move_base/TrajectoryPlannerROS/global_plan
      Value: true
    - Arrow Length: 0.3
      Class: rviz/PoseArray
      Color: 170; 255; 127
      Enabled: true
      Name: Pose Array
      Topic: /particlecloud
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 0.304
        Min Value: 0.304
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/LaserScan
      Color: 255; 0; 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: LaserScan
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.01
      Style: Points
      Topic: /scan
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Alpha: 1
      Axes Length: 1
      Axes Radius: 0.1
      Class: rviz/Pose
      Color: 0; 255; 0
      Enabled: true
      Head Length: 0.1
      Head Radius: 0.15
      Name: Goal Pose
      Shaft Length: 0.5
      Shaft Radius: 0.03
      Shape: Arrow
      Topic: /move_base_simple/goal
      Value: true
    - Alpha: 0.7
      Class: rviz/Map
      Color Scheme: costmap
      Draw Behind: false
      Enabled: true
      Name: Inflated Obstacles
      Topic: /move_base/local_costmap/costmap
      Value: true
    - Class: rviz/Marker
      Enabled: true
      Marker Topic: /waypoint_markers
      Name: Marker
      Namespaces:
        {}
      Queue Size: 100
      Value: true
  Enabled: true
  Global Options:
    Background Color: 0; 0; 0
    Fixed Frame: map
    Frame Rate: 30
  Name: root
  Tools:
    - Class: rviz/MoveCamera
    - Class: rviz/Interact
      Hide Inactive Objects: true
    - Class: rviz/Select
    - Class: rviz/SetInitialPose
      Topic: /initialpose
    - Class: rviz/SetGoal
      Topic: /move_base_simple/goal
  Value: true
  Views:
    Current:
      Angle: -1.575
      Class: rviz/TopDownOrtho
      Name: Current View
      Near Clip Distance: 0.01
      Scale: 67.8481
      Target Frame: <Fixed Frame>
      Value: TopDownOrtho (rviz)
      X: -1.62697
      Y: 2.64873
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 904
  Hide Left Dock: false
  Hide Right Dock: false
  QMainWindow State: 000000ff00000000fd00000004000000000000012d00000329fc0200000005fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000198000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004100000329000000dd00ffffff000000010000010f00000270fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000270000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003690000032900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 1180
  X: 716
  Y: 24
