Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
        - /Odometry1
      Splitter Ratio: 0.652661
    Tree Height: 483
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
    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_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
  Enabled: true
  Global Options:
    Background Color: 31; 31; 31
    Fixed Frame: odom
    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: -1.57
      Class: rviz/TopDownOrtho
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.06
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Name: Current View
      Near Clip Distance: 0.01
      Scale: 223.579
      Target Frame: <Fixed Frame>
      Value: TopDownOrtho (rviz)
      X: 0.552935
      Y: 0.0507111
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 696
  Hide Left Dock: false
  Hide Right Dock: false
  QMainWindow State: 000000ff00000000fd00000004000000000000012d00000272fc0200000005fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000272000000dd00ffffff000000010000010f00000270fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000270000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000002990000027200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 972
  X: 286
  Y: 141