diff --git a/rois_description/config/audio/cat.mp3 b/rois_description/config/audio/cat.mp3
deleted file mode 100644
index 3a17d8e3b4240280737df9301f13bfae48018939..0000000000000000000000000000000000000000
Binary files a/rois_description/config/audio/cat.mp3 and /dev/null differ
diff --git a/rois_description/config/robot/sample.urdf b/rois_description/config/robot/sample.urdf
deleted file mode 100644
index 5b8a1d49da0448572e460319f664c4760b2778b1..0000000000000000000000000000000000000000
--- a/rois_description/config/robot/sample.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-
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diff --git a/rois_description/config/world/sample.sdf b/rois_description/config/world/sample.sdf
deleted file mode 100644
index ab81c35097ac28d05b115227e6764027dc245269..0000000000000000000000000000000000000000
--- a/rois_description/config/world/sample.sdf
+++ /dev/null
@@ -1,68 +0,0 @@
-
-
-
-
- model://ground_plane
-
-
- model://sun
-
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diff --git a/rois_description/config/world/sound_test.sdf b/rois_description/config/world/sound_test.sdf
deleted file mode 100644
index 970927bb660d66112f566faa0b078b5522698794..0000000000000000000000000000000000000000
--- a/rois_description/config/world/sound_test.sdf
+++ /dev/null
@@ -1,13 +0,0 @@
-
-
-
-
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- model://sun
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diff --git a/rois_description/config/robot/fifth_robot.urdf b/rois_description/robot/roisbot.urdf.xacro
similarity index 60%
rename from rois_description/config/robot/fifth_robot.urdf
rename to rois_description/robot/roisbot.urdf.xacro
index 16dd77967f131157cca2bcc2411f2cf420ccbce4..1cd1805627180676152124ed306458a0eb13a5a2 100644
--- a/rois_description/config/robot/fifth_robot.urdf
+++ b/rois_description/robot/roisbot.urdf.xacro
@@ -1,113 +1,131 @@
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transmission_interface/SimpleTransmission
@@ -129,107 +147,65 @@
15
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-
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Gazebo/Blue
false
-
+
0.2 0 0 0 0 0
- 5
+ true
+ 40
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1
- -3.14
- 3.14
+ -${M_PI*3/4}
+ ${M_PI*3/4}
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- -0.26166
- 0.26166
-
- 0.30
+ 0.50
131
- 0.001
+ 0.01
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- /velodyne_points
- velodyne_link
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+ /scan
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- 0 0 0
- imu_link
-
- 0 0 0 0 0 0
-
-
-
- sample
+ roisbot
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+
true
- Gazebo/Gray
+ Gazebo/White
@@ -240,14 +216,14 @@
-
+
true
Gazebo/Red
-
+
true
Gazebo/Black
diff --git a/rois_description/world/lab_corridor.sdf b/rois_description/world/lab_corridor.sdf
new file mode 100644
index 0000000000000000000000000000000000000000..0ac7829ded02bf25706648d1c62aa0ac916ad192
--- /dev/null
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+
+
+ 0.011611 -2.49688 0 0 -0 0
+ 0 0 0 0 -0 0
+ 0 0 0 0 -0 0
+ 0 0 0 0 -0 0
+
+
+ -5.98839 5.50312 0 0 0 -1.5708
+ 0 0 0 0 -0 0
+ 0 0 0 0 -0 0
+ 0 0 0 0 -0 0
+
+
+ -5.98839 -5.49688 0 0 0 -1.5708
+ 0 0 0 0 -0 0
+ 0 0 0 0 -0 0
+ 0 0 0 0 -0 0
+
+
+ 0.011611 5.50312 0 0 0 -1.5708
+ 0 0 0 0 -0 0
+ 0 0 0 0 -0 0
+ 0 0 0 0 -0 0
+
+
+ 0.011611 -5.49688 0 0 0 -1.5708
+ 0 0 0 0 -0 0
+ 0 0 0 0 -0 0
+ 0 0 0 0 -0 0
+
+
+ 6.01161 5.50312 0 0 0 -1.5708
+ 0 0 0 0 -0 0
+ 0 0 0 0 -0 0
+ 0 0 0 0 -0 0
+
+
+ 6.01161 -5.49688 0 0 0 -1.5708
+ 0 0 0 0 -0 0
+ 0 0 0 0 -0 0
+ 0 0 0 0 -0 0
+
+
+
+
+
+ 0 0 10 0 -0 0
+
+
+
+
+ -16.5157 5.51194 15.8906 0 0.691643 -0.475806
+ orbit
+ perspective
+
+
+
+
diff --git a/rois_description/config/world/tana_world.sdf b/rois_description/world/tana_world.sdf
similarity index 100%
rename from rois_description/config/world/tana_world.sdf
rename to rois_description/world/tana_world.sdf
diff --git a/rois_description/config/robot/controller.yaml b/rois_gazebo/config/controller.yaml
similarity index 71%
rename from rois_description/config/robot/controller.yaml
rename to rois_gazebo/config/controller.yaml
index 242eccb99ea981bc391d64b46c0bd66957f12412..e0b2f753024e9364be5fee0d73d59f67b3c1b380 100644
--- a/rois_description/config/robot/controller.yaml
+++ b/rois_gazebo/config/controller.yaml
@@ -1,4 +1,4 @@
-sample:
+roisbot:
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
@@ -13,8 +13,8 @@ sample:
# Wheel separation and diameter. These are both optional.
# diff_drive_controller will attempt to read either one or both from the
# URDF if not specified as a parameter
- wheel_separation : 0.32
- wheel_radius : 0.07
+ wheel_separation : 0.7
+ wheel_radius : 0.2
# Wheel separation and radius multipliers
wheel_separation_multiplier: 1.0 # default: 1.0
@@ -24,23 +24,23 @@ sample:
cmd_vel_timeout: 1.0
# Base frame_id
- base_frame_id: base_link #default: base_link
+ base_frame_id: base_footprint #default: base_link
# Velocity and acceleration limits
# Whenever a min_* is unspecified, default to -max_*
linear:
x:
has_velocity_limits : true
- max_velocity : 0.55 # m/s
- min_velocity : -0.55 # m/s
+ max_velocity : 2.0 # m/s
+ min_velocity : -2.0 # m/s
has_acceleration_limits: true
- max_acceleration : 0.25 # m/s^2
- min_acceleration : -0.25 # m/s^2
+ max_acceleration : 2.0 # m/s^2
+ min_acceleration : -2.0 # m/s^2
angular:
z:
has_velocity_limits : true
- max_velocity : 0.3 # rad/s
- min_velocity : -0.3
+ max_velocity : 1.0 # rad/s
+ min_velocity : -1.0
has_acceleration_limits: true
- max_acceleration : 0.3 # rad/s^2
- min_acceleration : -0.3
+ max_acceleration : 1.0 # rad/s^2
+ min_acceleration : -1.0
diff --git a/rois_gazebo/launch/generate_2dmap.launch b/rois_gazebo/launch/generate_2dmap.launch
new file mode 100644
index 0000000000000000000000000000000000000000..97de679e28df97f86a47554197e03b8eec28db5d
--- /dev/null
+++ b/rois_gazebo/launch/generate_2dmap.launch
@@ -0,0 +1,38 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/rois_gazebo/launch/setup_gazebo.launch b/rois_gazebo/launch/setup_gazebo.launch
index 21927dae89ca7264bb3caca1cf67fb999976902c..33372db0f51fce916aaad987b37d30e282f52c1f 100644
--- a/rois_gazebo/launch/setup_gazebo.launch
+++ b/rois_gazebo/launch/setup_gazebo.launch
@@ -1,13 +1,13 @@
+ default="$(find rois_description)/robot/roisbot.urdf.xacro" />
+ default="$(find rois_gazebo)/rviz/roisbot.rviz" />
+ default="$(find rois_description)/world/lab_corridor.sdf" />
+
+
+ command="$(find xacro)/xacro --inorder $(arg model)" />
-
-
+ type="spawn_model"
+ name="spawn_urdf"
+ args="-urdf -model roisbot -param robot_description" />
@@ -39,7 +39,7 @@
name="robot_state_publisher"
type="robot_state_publisher"
pkg="robot_state_publisher"
- ns="sample"
+ ns="roisbot"
respawn="false"
output="screen" />
@@ -47,6 +47,5 @@
name="rviz"
type="rviz"
pkg="rviz"
- args="-d $(arg rvizconfig)"
- required="true" />
+ args="-d $(arg rvizconfig)" />
diff --git a/rois_gazebo/launch/teleop_keyboard.launch b/rois_gazebo/launch/teleop_keyboard.launch
index bfe91a95059225be8f77c7c4eb2ec98e445b345c..5160dde51aa382acf41a3d9d76c76f2a30659c4b 100644
--- a/rois_gazebo/launch/teleop_keyboard.launch
+++ b/rois_gazebo/launch/teleop_keyboard.launch
@@ -1,10 +1,15 @@
+
+
+ to="/roisbot/diff_drive_controller/cmd_vel" />
+
diff --git a/rois_gazebo/rviz/2dmapping.rviz b/rois_gazebo/rviz/2dmapping.rviz
new file mode 100644
index 0000000000000000000000000000000000000000..e47ca6ff86913366bb01be3e3d520a39ad205e26
--- /dev/null
+++ b/rois_gazebo/rviz/2dmapping.rviz
@@ -0,0 +1,246 @@
+Panels:
+ - Class: rviz/Displays
+ Help Height: 85
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /Global Options1
+ Splitter Ratio: 0.5
+ Tree Height: 547
+ - 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: false
+ Name: Time
+ SyncMode: 0
+ SyncSource: LaserScan
+Preferences:
+ PromptSaveOnExit: true
+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: 10
+ Reference Frame:
+ Value: true
+ - Alpha: 0.5
+ 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
+ base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ caster_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_wheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ lrf_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_wheel_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: true
+ Frame Timeout: 15
+ Frames:
+ All Enabled: true
+ base_footprint:
+ Value: true
+ base_link:
+ Value: true
+ caster_link:
+ Value: true
+ left_wheel_link:
+ Value: true
+ lrf_link:
+ Value: true
+ map:
+ Value: true
+ odom:
+ Value: true
+ right_wheel_link:
+ Value: true
+ Marker Scale: 0.5
+ Name: TF
+ Show Arrows: true
+ Show Axes: true
+ Show Names: true
+ Tree:
+ map:
+ odom:
+ base_footprint:
+ base_link:
+ {}
+ caster_link:
+ {}
+ left_wheel_link:
+ {}
+ lrf_link:
+ {}
+ right_wheel_link:
+ {}
+ Update Interval: 0
+ 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/LaserScan
+ Color: 255; 255; 255
+ Color Transformer: Intensity
+ Decay Time: 0
+ Enabled: true
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 0
+ Min Color: 0; 0; 0
+ Min Intensity: 0
+ Name: LaserScan
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.05000000074505806
+ Style: Flat Squares
+ Topic: /scan
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ - Alpha: 0.699999988079071
+ Class: rviz/Map
+ Color Scheme: map
+ Draw Behind: false
+ Enabled: true
+ Name: Map
+ Topic: /map
+ Unreliable: false
+ Use Timestamp: 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/Interact
+ Hide Inactive Objects: true
+ - Class: rviz/MoveCamera
+ - Class: rviz/Select
+ - Class: rviz/FocusCamera
+ - Class: rviz/Measure
+ - Class: rviz/SetInitialPose
+ Theta std deviation: 0.2617993950843811
+ Topic: /initialpose
+ X std deviation: 0.5
+ Y std deviation: 0.5
+ - Class: rviz/SetGoal
+ Topic: /move_base_simple/goal
+ - Class: rviz/PublishPoint
+ Single click: true
+ Topic: /clicked_point
+ Value: true
+ Views:
+ Current:
+ Class: rviz/Orbit
+ Distance: 27.4172420501709
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Focal Point:
+ X: 0
+ Y: 0
+ Z: 0
+ Focal Shape Fixed Size: true
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 1.5697963237762451
+ Target Frame:
+ Value: Orbit (rviz)
+ Yaw: 3.133585214614868
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: true
+ Height: 882
+ Hide Left Dock: true
+ Hide Right Dock: false
+ QMainWindow State: 000000ff00000000fd000000040000000000000161000002bffc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006e00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730000000047000002bf000000f100fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002bffc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000047000002bf000000c200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004c000000044fc0100000002fb0000000800540069006d00650100000000000004c00000037100fffffffb0000000800540069006d00650100000000000004500000000000000000000004c0000002bf00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: false
+ Width: 1216
+ X: 67
+ Y: 34
diff --git a/rois_gazebo/rviz/roisbot.rviz b/rois_gazebo/rviz/roisbot.rviz
new file mode 100644
index 0000000000000000000000000000000000000000..8271ba79c17fc7d53cf6ae312d1c38c3b7f66d3e
--- /dev/null
+++ b/rois_gazebo/rviz/roisbot.rviz
@@ -0,0 +1,234 @@
+Panels:
+ - Class: rviz/Displays
+ Help Height: 85
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /Global Options1
+ Splitter Ratio: 0.5
+ Tree Height: 547
+ - 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: false
+ Name: Time
+ SyncMode: 0
+ SyncSource: LaserScan
+Preferences:
+ PromptSaveOnExit: true
+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: 10
+ Reference Frame:
+ Value: true
+ - Alpha: 0.5
+ 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
+ base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ caster_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_wheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ lrf_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_wheel_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: true
+ Frame Timeout: 15
+ Frames:
+ All Enabled: true
+ base_footprint:
+ Value: true
+ base_link:
+ Value: true
+ caster_link:
+ Value: true
+ left_wheel_link:
+ Value: true
+ lrf_link:
+ Value: true
+ odom:
+ Value: true
+ right_wheel_link:
+ Value: true
+ Marker Scale: 0.5
+ Name: TF
+ Show Arrows: true
+ Show Axes: true
+ Show Names: true
+ Tree:
+ base_footprint:
+ base_link:
+ {}
+ caster_link:
+ {}
+ left_wheel_link:
+ {}
+ lrf_link:
+ {}
+ right_wheel_link:
+ {}
+ odom:
+ {}
+ Update Interval: 0
+ 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/LaserScan
+ Color: 255; 255; 255
+ Color Transformer: Intensity
+ Decay Time: 0
+ Enabled: true
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 0
+ Min Color: 0; 0; 0
+ Min Intensity: 0
+ Name: LaserScan
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.05000000074505806
+ Style: Flat Squares
+ Topic: /scan
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
+ Default Light: true
+ Fixed Frame: base_footprint
+ 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
+ Theta std deviation: 0.2617993950843811
+ Topic: /initialpose
+ X std deviation: 0.5
+ Y std deviation: 0.5
+ - Class: rviz/SetGoal
+ Topic: /move_base_simple/goal
+ - Class: rviz/PublishPoint
+ Single click: true
+ Topic: /clicked_point
+ Value: true
+ Views:
+ Current:
+ Class: rviz/Orbit
+ Distance: 4.486889839172363
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Focal Point:
+ X: 0
+ Y: 0
+ Z: 0
+ Focal Shape Fixed Size: true
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 0.5803970098495483
+ Target Frame:
+ Value: Orbit (rviz)
+ Yaw: 0.29858118295669556
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 882
+ Hide Left Dock: false
+ Hide Right Dock: false
+ QMainWindow State: 000000ff00000000fd000000040000000000000161000002bffc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006e00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000047000002bf000000f100fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002bffc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000047000002bf000000c200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004c000000044fc0100000002fb0000000800540069006d00650100000000000004c00000037100fffffffb0000000800540069006d0065010000000000000450000000000000000000000358000002bf00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: false
+ Width: 1216
+ X: 67
+ Y: 34