Panels:
  - Class: rviz_common/Displays
    Help Height: 138
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Nvblox1
        - /Stereo Cameras1
        - /Depth Images1
      Splitter Ratio: 0.7601010203361511
    Tree Height: 664
  - Class: rviz_common/Selection
    Name: Selection
  - Class: rviz_common/Tool Properties
    Expanded:
      - /2D Goal Pose1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.5886790156364441
  - Class: rviz_common/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz_common/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: Combined Esdf
Visualization Manager:
  Class: ""
  Displays:
    - Class: rviz_default_plugins/TF
      Enabled: false
      Frame Timeout: 15
      Frames:
        All Enabled: false
      Marker Scale: 1
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: true
      Tree:
        {}
      Update Interval: 0
      Value: false
    - Class: rviz_default_plugins/Axes
      Enabled: true
      Length: 0.25
      Name: Base Link
      Radius: 0.05000000074505806
      Reference Frame: base_link
      Value: true
    - Alpha: 0.25
      Cell Size: 1
      Class: rviz_default_plugins/Grid
      Color: 0; 0; 0
      Enabled: false
      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: 100
      Reference Frame: <Fixed Frame>
      Value: false
    - Class: rviz_common/Group
      Displays:
        - Class: rviz_default_plugins/Marker
          Enabled: false
          Name: ESDF Slice Bounds
          Namespaces:
            {}
          Topic:
            Depth: 5
            Durability Policy: Volatile
            Filter size: 10
            History Policy: Keep Last
            Reliability Policy: Reliable
            Value: /nvblox_node/esdf_slice_bounds
          Value: false
        - Class: rviz_default_plugins/Marker
          Enabled: false
          Name: Workspace Bounds
          Namespaces:
            {}
          Topic:
            Depth: 5
            Durability Policy: Volatile
            Filter size: 10
            History Policy: Keep Last
            Reliability Policy: Reliable
            Value: /nvblox_node/workspace_bounds
          Value: false
        - Alpha: 1
          Autocompute Intensity Bounds: false
          Autocompute Value Bounds:
            Max Value: 10
            Min Value: -10
            Value: true
          Axis: Z
          Channel Name: intensity
          Class: rviz_default_plugins/PointCloud2
          Color: 255; 255; 255
          Color Transformer: Intensity
          Decay Time: 0
          Enabled: false
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Max Intensity: 1
          Min Color: 0; 0; 0
          Min Intensity: 0
          Name: Static Esdf
          Position Transformer: XYZ
          Selectable: true
          Size (Pixels): 3
          Size (m): 0.05000000074505806
          Style: Tiles
          Topic:
            Depth: 5
            Durability Policy: Volatile
            Filter size: 10
            History Policy: Keep Last
            Reliability Policy: Reliable
            Value: /nvblox_node/static_esdf_pointcloud
          Use Fixed Frame: true
          Use rainbow: true
          Value: false
        - Alpha: 1
          Autocompute Intensity Bounds: false
          Autocompute Value Bounds:
            Max Value: 10
            Min Value: -10
            Value: true
          Axis: Z
          Channel Name: intensity
          Class: rviz_default_plugins/PointCloud2
          Color: 255; 255; 255
          Color Transformer: Intensity
          Decay Time: 0
          Enabled: false
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Max Intensity: 1
          Min Color: 0; 0; 0
          Min Intensity: 0
          Name: Human Esdf
          Position Transformer: XYZ
          Selectable: true
          Size (Pixels): 3
          Size (m): 0.05000000074505806
          Style: Tiles
          Topic:
            Depth: 5
            Durability Policy: Volatile
            Filter size: 10
            History Policy: Keep Last
            Reliability Policy: Reliable
            Value: /nvblox_node/dynamic_esdf_pointcloud
          Use Fixed Frame: true
          Use rainbow: true
          Value: false
        - Alpha: 1
          Autocompute Intensity Bounds: false
          Autocompute Value Bounds:
            Max Value: 10
            Min Value: -10
            Value: true
          Axis: Z
          Channel Name: intensity
          Class: rviz_default_plugins/PointCloud2
          Color: 255; 255; 255
          Color Transformer: Intensity
          Decay Time: 0
          Enabled: true
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Max Intensity: 1
          Min Color: 0; 0; 0
          Min Intensity: 0
          Name: Combined Esdf
          Position Transformer: XYZ
          Selectable: true
          Size (Pixels): 3
          Size (m): 0.05000000074505806
          Style: Tiles
          Topic:
            Depth: 5
            Durability Policy: Volatile
            Filter size: 10
            History Policy: Keep Last
            Reliability Policy: Reliable
            Value: /nvblox_node/combined_esdf_pointcloud
          Use Fixed Frame: true
          Use rainbow: true
          Value: true
        - Class: rviz_default_plugins/Marker
          Enabled: true
          Name: Color Layer Marker
          Namespaces:
            layer: true
          Topic:
            Depth: 5
            Durability Policy: Volatile
            Filter size: 10
            History Policy: Keep Last
            Reliability Policy: Reliable
            Value: /nvblox_node/color_layer_marker
          Value: true
      Enabled: true
      Name: Nvblox
    - Class: rviz_common/Group
      Displays:
        - Class: rviz_default_plugins/Image
          Enabled: true
          Max Value: 1
          Median window: 5
          Min Value: 0
          Name: Image
          Normalize Range: true
          Topic:
            Depth: 5
            Durability Policy: Volatile
            History Policy: Keep Last
            Reliability Policy: Best Effort
            Value: /camera/left_ir/image_raw
          Value: true
      Enabled: true
      Name: Stereo Cameras
    - Class: rviz_common/Group
      Displays:
        - Class: rviz_default_plugins/Image
          Enabled: true
          Max Value: 1
          Median window: 5
          Min Value: 0
          Name: Image
          Normalize Range: true
          Topic:
            Depth: 5
            Durability Policy: Volatile
            History Policy: Keep Last
            Reliability Policy: Best Effort
            Value: /camera/depth/image_raw
          Value: true
      Enabled: true
      Name: Depth Images
    - Class: rviz_common/Group
      Displays:
        - Alpha: 1
          Buffer Length: 1
          Class: rviz_default_plugins/Path
          Color: 25; 255; 0
          Enabled: true
          Head Diameter: 0.30000001192092896
          Head Length: 0.20000000298023224
          Length: 0.30000001192092896
          Line Style: Billboards
          Line Width: 0.05000000074505806
          Name: Path
          Offset:
            X: 0
            Y: 0
            Z: 0.20000000298023224
          Pose Color: 255; 85; 255
          Pose Style: None
          Radius: 0.029999999329447746
          Shaft Diameter: 0.10000000149011612
          Shaft Length: 0.10000000149011612
          Topic:
            Depth: 5
            Durability Policy: Volatile
            Filter size: 10
            History Policy: Keep Last
            Reliability Policy: Reliable
            Value: /unsmoothed_plan
          Value: true
        - Alpha: 0.699999988079071
          Class: rviz_default_plugins/Map
          Color Scheme: map
          Draw Behind: false
          Enabled: false
          Name: Local Costmap
          Topic:
            Depth: 5
            Durability Policy: Volatile
            Filter size: 10
            History Policy: Keep Last
            Reliability Policy: Reliable
            Value: /local_costmap/costmap
          Update Topic:
            Depth: 5
            Durability Policy: Volatile
            History Policy: Keep Last
            Reliability Policy: Reliable
            Value: /local_costmap/costmap_updates
          Use Timestamp: false
          Value: false
        - Alpha: 0.699999988079071
          Class: rviz_default_plugins/Map
          Color Scheme: map
          Draw Behind: false
          Enabled: false
          Name: Global Costmap
          Topic:
            Depth: 5
            Durability Policy: Volatile
            Filter size: 10
            History Policy: Keep Last
            Reliability Policy: Reliable
            Value: /global_costmap/costmap
          Update Topic:
            Depth: 5
            Durability Policy: Volatile
            History Policy: Keep Last
            Reliability Policy: Reliable
            Value: /global_costmap/costmap_updates
          Use Timestamp: false
          Value: false
      Enabled: true
      Name: Navigation
    - Alpha: 0.699999988079071
      Class: rviz_default_plugins/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: false
      Name: Map
      Topic:
        Depth: 5
        Durability Policy: Transient Local
        Filter size: 10
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /map
      Update Topic:
        Depth: 5
        Durability Policy: Volatile
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /map_updates
      Use Timestamp: false
      Value: false
    - Angle Tolerance: 0.10000000149011612
      Class: rviz_default_plugins/Odometry
      Covariance:
        Orientation:
          Alpha: 0.5
          Color: 255; 255; 127
          Color Style: Unique
          Frame: Local
          Offset: 1
          Scale: 1
          Value: true
        Position:
          Alpha: 0.30000001192092896
          Color: 204; 51; 204
          Scale: 1
          Value: true
        Value: true
      Enabled: true
      Keep: 100
      Name: Odometry
      Position Tolerance: 0.10000000149011612
      Shape:
        Alpha: 1
        Axes Length: 1
        Axes Radius: 0.10000000149011612
        Color: 255; 25; 0
        Head Length: 0.30000001192092896
        Head Radius: 0.10000000149011612
        Shaft Length: 1
        Shaft Radius: 0.05000000074505806
        Value: Arrow
      Topic:
        Depth: 5
        Durability Policy: Volatile
        Filter size: 10
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /visual_slam/tracking/odometry
      Value: true
    - Alpha: 1
      Buffer Length: 1
      Class: rviz_default_plugins/Path
      Color: 255; 120; 0
      Enabled: true
      Head Diameter: 0.30000001192092896
      Head Length: 0.20000000298023224
      Length: 3
      Line Style: Billboards
      Line Width: 0.10000000149011612
      Name: Path
      Offset:
        X: 0
        Y: 0
        Z: 0
      Pose Color: 255; 85; 255
      Pose Style: None
      Radius: 0.10000000149011612
      Shaft Diameter: 0.10000000149011612
      Shaft Length: 0.10000000149011612
      Topic:
        Depth: 5
        Durability Policy: Volatile
        Filter size: 10
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /visual_slam/tracking/slam_path
      Value: true
  Enabled: true
  Global Options:
    Background Color: 190; 190; 190
    Fixed Frame: odom
    Frame Rate: 30
  Name: root
  Tools:
    - Class: rviz_default_plugins/Interact
      Hide Inactive Objects: true
    - Class: rviz_default_plugins/MoveCamera
    - Class: rviz_default_plugins/Select
    - Class: rviz_default_plugins/FocusCamera
    - Class: rviz_default_plugins/Measure
      Line color: 128; 128; 0
    - Class: rviz_default_plugins/SetInitialPose
      Covariance x: 0.25
      Covariance y: 0.25
      Covariance yaw: 0.06853891909122467
      Topic:
        Depth: 5
        Durability Policy: Volatile
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /initialpose
    - Class: rviz_default_plugins/SetGoal
      Topic:
        Depth: 5
        Durability Policy: Volatile
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /goal_pose
    - Class: rviz_default_plugins/PublishPoint
      Single click: true
      Topic:
        Depth: 5
        Durability Policy: Volatile
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /clicked_point
  Transformation:
    Current:
      Class: rviz_default_plugins/TF
  Value: true
  Views:
    Current:
      Class: rviz_default_plugins/ThirdPersonFollower
      Distance: 27.068092346191406
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: -2
        Y: -0.75
        Z: 0
      Focal Shape Fixed Size: false
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Pitch: 1.4997963905334473
      Target Frame: base_link
      Value: ThirdPersonFollower (rviz_default_plugins)
      Yaw: 3.249995470046997
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 1016
  Hide Left Dock: false
  Hide Right Dock: true
  Image:
    collapsed: false
  QMainWindow State: 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
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 1850
  X: 70
  Y: 27