Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
      Splitter Ratio: 0.7241380214691162
    Tree Height: 817
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.5886790156364441
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: true
    Name: Time
    SyncMode: 0
    SyncSource: Distance Map (debug output)
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: 0.029999999329447746
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 50
      Reference Frame: <Fixed Frame>
      Value: true
    - Class: rviz/TF
      Enabled: true
      Frame Timeout: 15
      Frames:
        All Enabled: true
        base_link:
          Value: true
        map:
          Value: true
        odom:
          Value: true
      Marker Scale: 2
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: true
      Tree:
        map:
          odom:
            base_link:
              {}
      Update Interval: 0
      Value: true
    - Alpha: 1
      Class: rviz/Polygon
      Color: 25; 255; 0
      Enabled: true
      Name: Polygon
      Topic: /costmap_3d/footprint
      Unreliable: false
      Value: true
    - Alpha: 1
      Buffer Length: 1
      Class: rviz/Path
      Color: 0; 255; 0
      Enabled: true
      Head Diameter: 0.30000001192092896
      Head Length: 0.20000000298023224
      Length: 0.30000001192092896
      Line Style: Billboards
      Line Width: 0.20000000298023224
      Name: Path
      Offset:
        X: 0
        Y: 0
        Z: 0
      Pose Color: 255; 85; 255
      Pose Style: None
      Radius: 0.029999999329447746
      Shaft Diameter: 0.10000000149011612
      Shaft Length: 0.10000000149011612
      Topic: /path
      Unreliable: false
      Value: true
    - Alpha: 1
      Buffer Length: 1
      Class: trajectory_tracker_rviz_plugins/PathWithVelocity
      Color: 25; 255; 0
      Enabled: true
      Head Diameter: 0.30000001192092896
      Head Length: 0.20000000298023224
      Length: 0.30000001192092896
      Line Style: Billboards
      Line Width: 0.20000000298023224
      Name: PathWithVelocity
      Offset:
        X: 0
        Y: 0
        Z: 0
      Pose Color: 255; 85; 255
      Pose Style: None
      Radius: 0.029999999329447746
      Shaft Diameter: 0.10000000149011612
      Shaft Length: 0.10000000149011612
      Topic: /path_velocity
      Unreliable: false
      Value: true
    - Alpha: 0.5
      Axes Length: 1
      Axes Radius: 0.10000000149011612
      Class: rviz/Pose
      Color: 255; 25; 0
      Enabled: true
      Head Length: 0.10000000149011612
      Head Radius: 0.05000000074505806
      Name: Pose
      Shaft Length: 0.10000000149011612
      Shaft Radius: 0.019999999552965164
      Shape: Arrow
      Topic: /move_base_simple/goal
      Unreliable: false
      Value: true
    - Alpha: 0.800000011920929
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: true
      Name: Global Map
      Topic: /map
      Unreliable: false
      Use Timestamp: false
      Value: true
    - Alpha: 0.699999988079071
      Class: rviz/Map
      Color Scheme: costmap
      Draw Behind: false
      Enabled: true
      Name: Local Costmap
      Topic: /overlay1
      Unreliable: false
      Use Timestamp: false
      Value: true
    - Alpha: 0.20000000298023224
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 0.7862290143966675
        Min Value: 0
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/PointCloud
      Color: 255; 0; 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: Distance Map (debug output)
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 5
      Size (m): 0.05000000074505806
      Style: Flat Squares
      Topic: /planner_3d/distance_map
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: false
      Value: true
    - Alpha: 0.200000003
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: false
      Name: Hysteresis Map (debug output)
      Topic: /planner_3d/hysteresis_map
      Unreliable: false
      Use Timestamp: false
      Value: false
    - Alpha: 0.300000012
      Class: rviz/Map
      Color Scheme: costmap
      Draw Behind: false
      Enabled: false
      Name: Remembered Costmap (debug output)
      Topic: /planner_3d/remembered_map
      Unreliable: false
      Use Timestamp: false
      Value: false
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Default Light: true
    Fixed Frame: map
    Frame Rate: 5
  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: 0
      Class: rviz/TopDownOrtho
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Scale: 43.50410079956055
      Target Frame: base_link
      Value: TopDownOrtho (rviz)
      X: 0
      Y: 0
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 1129
  Hide Left Dock: false
  Hide Right Dock: true
  QMainWindow State: 000000ff00000000fd0000000400000000000001a6000003defc0200000009fb0000001200530065006c0065006300740069006f006e0000000040000001c70000007001000007fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000058000003de000000ef01000007fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000303000000d00000000000000000000000010000011000000395fc0200000003fb0000000a00560069006500770073000000004400000395000000e201000007fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003c000000046fc0100000002fb0000000800540069006d00650000000000000003c00000043801000007fb0000000800540069006d00650100000000000004500000000000000000000005d9000003de00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 1920
  X: 0
  Y: 34
