Panels:
  - Class: rviz/Displays
    Help Height: 81
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /RobotModel1
        - /TF1/Frames1
        - /TF1/Tree1
        - /Global Map1/Planner1
        - /Local Map1/Planner1
        - /Odometry1
      Splitter Ratio: 0.5
    Tree Height: 481
  - 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: LaserScan
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: 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
          Value: true
        laser_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
    - Class: rviz/TF
      Enabled: false
      Frame Timeout: 15
      Frames:
        All Enabled: false
      Marker Scale: 1
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: false
      Tree:
        {}
      Update Interval: 0
      Value: false
    - Alpha: 1
      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; 255; 255
      Color Transformer: Intensity
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 47
      Min Color: 0; 0; 0
      Min Intensity: 47
      Name: LaserScan
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.0500000007
      Style: Squares
      Topic: /scan
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      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: 255; 0; 0
      Color Transformer: FlatColor
      Decay Time: 0
      Enabled: false
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 4096
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: Bumper Hit
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.0799999982
      Style: Spheres
      Topic: /mobile_base/sensors/bumper_pointcloud
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: false
    - Alpha: 0.699999988
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: true
      Name: Map
      Topic: /map
      Unreliable: false
      Use Timestamp: false
      Value: true
    - Class: rviz/Group
      Displays:
        - Alpha: 0.699999988
          Class: rviz/Map
          Color Scheme: costmap
          Draw Behind: true
          Enabled: true
          Name: Costmap
          Topic: /move_base/global_costmap/costmap
          Unreliable: false
          Use Timestamp: false
          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: Planner
          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: /move_base/DWAPlannerROS/global_plan
          Unreliable: false
          Value: true
      Enabled: true
      Name: Global Map
    - Class: rviz/Group
      Displays:
        - Alpha: 0.699999988
          Class: rviz/Map
          Color Scheme: costmap
          Draw Behind: false
          Enabled: false
          Name: Costmap
          Topic: /move_base/local_costmap/costmap
          Unreliable: false
          Use Timestamp: false
          Value: false
        - Alpha: 1
          Buffer Length: 1
          Class: rviz/Path
          Color: 0; 12; 255
          Enabled: true
          Head Diameter: 0.300000012
          Head Length: 0.200000003
          Length: 0.300000012
          Line Style: Lines
          Line Width: 0.0299999993
          Name: Planner
          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: /move_base/DWAPlannerROS/local_plan
          Unreliable: false
          Value: true
        - Alpha: 0.800000012
          Autocompute Intensity Bounds: true
          Autocompute Value Bounds:
            Max Value: 10
            Min Value: -10
            Value: true
          Axis: Z
          Channel Name: total_cost
          Class: rviz/PointCloud2
          Color: 255; 255; 255
          Color Transformer: Intensity
          Decay Time: 0
          Enabled: false
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Max Intensity: 291.600006
          Min Color: 0; 0; 0
          Min Intensity: 65.5999985
          Name: Cost Cloud
          Position Transformer: XYZ
          Queue Size: 10
          Selectable: true
          Size (Pixels): 3
          Size (m): 0.0399999991
          Style: Flat Squares
          Topic: /move_base/DWAPlannerROS/cost_cloud
          Unreliable: false
          Use Fixed Frame: true
          Use rainbow: true
          Value: false
        - Alpha: 1
          Autocompute Intensity Bounds: true
          Autocompute Value Bounds:
            Max Value: 10
            Min Value: -10
            Value: true
          Axis: Z
          Channel Name: total_cost
          Class: rviz/PointCloud2
          Color: 255; 255; 255
          Color Transformer: Intensity
          Decay Time: 0
          Enabled: false
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Max Intensity: 3845.65991
          Min Color: 0; 0; 0
          Min Intensity: 5.65999985
          Name: Trajectory Cloud
          Position Transformer: XYZ
          Queue Size: 10
          Selectable: true
          Size (Pixels): 3
          Size (m): 0.0399999991
          Style: Flat Squares
          Topic: /move_base/DWAPlannerROS/trajectory_cloud
          Unreliable: false
          Use Fixed Frame: true
          Use rainbow: false
          Value: false
      Enabled: true
      Name: Local Map
    - Alpha: 1
      Arrow Length: 0.200000003
      Axes Length: 0.300000012
      Axes Radius: 0.00999999978
      Class: rviz/PoseArray
      Color: 0; 192; 0
      Enabled: false
      Head Length: 0.0700000003
      Head Radius: 0.0299999993
      Name: Amcl Particle Swarm
      Shaft Length: 0.230000004
      Shaft Radius: 0.00999999978
      Shape: Arrow (Flat)
      Topic: /particlecloud
      Unreliable: false
      Value: false
    - Alpha: 1
      Buffer Length: 1
      Class: rviz/Path
      Color: 25; 255; 0
      Enabled: true
      Head Diameter: 0.300000012
      Head Length: 0.200000003
      Length: 0.300000012
      Line Style: Lines
      Line Width: 0.0299999993
      Name: Full Plan
      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: /move_base/GlobalPlanner/plan
      Unreliable: false
      Value: true
    - Angle Tolerance: 0.100000001
      Class: rviz/Odometry
      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: false
      Enabled: true
      Keep: 1
      Name: Odometry
      Position Tolerance: 0.100000001
      Shape:
        Alpha: 1
        Axes Length: 1
        Axes Radius: 0.100000001
        Color: 255; 25; 0
        Head Length: 0.300000012
        Head Radius: 0.100000001
        Shaft Length: 1
        Shaft Radius: 0.0500000007
        Value: Arrow
      Topic: /odom
      Unreliable: false
      Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Default Light: true
    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
    - Class: rviz/Measure
    - Class: rviz/PublishPoint
      Single click: true
      Topic: /clicked_point
  Value: true
  Views:
    Current:
      Angle: -4.68503332
      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: 91.187973
      Target Frame: <Fixed Frame>
      Value: TopDownOrtho (rviz)
      X: 0.143957004
      Y: 0.922994018
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 704
  Hide Left Dock: false
  Hide Right Dock: true
  QMainWindow State: 000000ff00000000fd0000000400000000000002300000026cfc0200000005fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003a0000026c000000c600ffffff000000010000010f0000026efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000430000026e0000009e00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000024400fffffffb0000000800540069006d00650100000000000004500000000000000000000001ca0000026c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 1024
  X: 65
  Y: 27
