diff --git a/launch/azimut3/az3_mapping_client.launch b/launch/azimut3/az3_mapping_client.launch
index fc76400b..45bb4983 100644
--- a/launch/azimut3/az3_mapping_client.launch
+++ b/launch/azimut3/az3_mapping_client.launch
@@ -2,24 +2,32 @@
-
-
-
-
-
-
-
-
-
+
+
+
+
+
+
+
+
+
+
+
+
+
+
-
-
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-
-
-
-
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+
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+
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+
diff --git a/launch/azimut3/az3_mapping_client_rviz_nav.launch b/launch/azimut3/az3_mapping_client_nav.launch
similarity index 100%
rename from launch/azimut3/az3_mapping_client_rviz_nav.launch
rename to launch/azimut3/az3_mapping_client_nav.launch
diff --git a/launch/azimut3/az3_mapping_client_rviz.launch b/launch/azimut3/az3_mapping_client_rviz.launch
deleted file mode 100644
index 45bb4983..00000000
--- a/launch/azimut3/az3_mapping_client_rviz.launch
+++ /dev/null
@@ -1,33 +0,0 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
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-
-
-
-
-
-
diff --git a/launch/azimut3/az3_mapping_client_stereo_nav.launch b/launch/azimut3/az3_mapping_client_stereo_nav.launch
new file mode 100644
index 00000000..eeef8f8e
--- /dev/null
+++ b/launch/azimut3/az3_mapping_client_stereo_nav.launch
@@ -0,0 +1,9 @@
+
+
+
+
+
+
+
+
+
diff --git a/launch/azimut3/az3_mapping_robot_nav.launch b/launch/azimut3/az3_mapping_robot_nav.launch
index 85f6bf7c..da4f1824 100644
--- a/launch/azimut3/az3_mapping_robot_nav.launch
+++ b/launch/azimut3/az3_mapping_robot_nav.launch
@@ -71,12 +71,6 @@
-
-
-
-
-
-
@@ -88,7 +82,7 @@
-
+
@@ -111,35 +105,42 @@
-
+
-
+
-
-
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+
+
+
-
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+
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+
diff --git a/launch/config/azimut3_nav.rviz b/launch/config/azimut3_nav.rviz
index efae2ac6..843706c6 100644
--- a/launch/config/azimut3_nav.rviz
+++ b/launch/config/azimut3_nav.rviz
@@ -6,8 +6,9 @@ Panels:
Expanded:
- /Global Options1
- /TF1/Frames1
+ - /MapCloud1
Splitter Ratio: 0.601881
- Tree Height: 181
+ Tree Height: 337
- Class: rviz/Selection
Name: Selection
- Class: rviz/Views
@@ -20,7 +21,7 @@ Panels:
Experimental: false
Name: Time
SyncMode: 0
- SyncSource: Image
+ SyncSource: PointCloud2
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
@@ -48,58 +49,31 @@ Visualization Manager:
Plane Cell Count: 10
Reference Frame: map
Value: true
- - Alpha: 1
- Autocompute Intensity Bounds: true
- Autocompute Value Bounds:
- Max Value: 2.02684
- Min Value: -1.12646
- Value: true
- Axis: Z
- Channel Name: rgb
- Class: rviz/PointCloud2
- Color: 255; 255; 255
- Color Transformer: Intensity
- Decay Time: 0
- Enabled: true
- Invert Rainbow: false
- Max Color: 255; 255; 255
- Max Intensity: 2.34177e-38
- Min Color: 0; 0; 0
- Min Intensity: 9.21942e-41
- Name: PointCloud2
- Position Transformer: XYZ
- Queue Size: 10
- Selectable: true
- Size (Pixels): 3
- Size (m): 0.01
- Style: Points
- Topic: /odom_last_frame
- Use Fixed Frame: true
- Use rainbow: true
- Value: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: false
- az3_base_link:
- Value: true
- az3_odom:
- Value: true
base_footprint:
Value: true
base_laser_link:
Value: true
base_link:
Value: true
+ camera_depth_frame:
+ Value: true
+ camera_depth_optical_frame:
+ Value: true
+ camera_link:
+ Value: true
+ camera_rgb_frame:
+ Value: true
+ camera_rgb_optical_frame:
+ Value: true
map:
Value: true
odom:
Value: true
- stereo_camera:
- Value: true
- stereo_camera_base:
- Value: true
wheelLB_linkWheel_link:
Value: true
wheelLB_wheel_link:
@@ -128,9 +102,13 @@ Visualization Manager:
base_link:
base_laser_link:
{}
- stereo_camera_base:
- stereo_camera:
- {}
+ camera_link:
+ camera_depth_frame:
+ camera_depth_optical_frame:
+ {}
+ camera_rgb_frame:
+ camera_rgb_optical_frame:
+ {}
wheelLB_linkWheel_link:
wheelLB_wheel_link:
{}
@@ -148,8 +126,8 @@ Visualization Manager:
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
- Max Value: 5.45389
- Min Value: 4.86317
+ Max Value: 4.1956
+ Min Value: 1.5022
Value: true
Axis: X
Channel Name: intensity
@@ -178,45 +156,100 @@ Visualization Manager:
Class: rviz/Map
Color Scheme: map
Draw Behind: false
- Enabled: false
+ Enabled: true
Name: Map
Topic: /map
- Value: false
+ Value: true
- Alpha: 0.7
Class: rviz/Map
Color Scheme: costmap
Draw Behind: false
- Enabled: false
+ Enabled: true
Name: Map
Topic: /planner/move_base/local_costmap/costmap
- Value: false
+ Value: true
- Alpha: 0.7
Class: rviz/Map
Color Scheme: costmap
Draw Behind: false
- Enabled: false
+ Enabled: true
Name: Map
Topic: /planner/move_base/global_costmap/costmap
- Value: false
+ Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
- 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_laser_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ wheelLB_linkWheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ wheelLB_wheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ wheelLF_linkWheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ wheelLF_wheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ wheelRB_linkWheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ wheelRB_wheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ wheelRF_linkWheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ wheelRF_wheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
- Value: false
+ Value: true
Visual Enabled: true
- Class: rviz/Image
Enabled: true
- Image Topic: /stereo_camera/left/image_rect
+ Image Topic: /camera/data_throttled_image_relay
Max Value: 1
Median window: 5
Min Value: 0
@@ -255,7 +288,7 @@ Visualization Manager:
Size (Pixels): 3
Size (m): 0.01
Style: Points
- Topic: /rtabmap/mapData
+ Topic: /rtabmap/mapData_relay
Use Fixed Frame: true
Use rainbow: true
Value: true
@@ -304,14 +337,14 @@ Visualization Manager:
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
- Max Value: 10
- Min Value: -10
+ Max Value: 4.11231
+ Min Value: -0.00766382
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 85; 255; 0
- Color Transformer: FlatColor
+ Color Transformer: RGB8
Decay Time: 0
Enabled: true
Invert Rainbow: false
@@ -326,7 +359,7 @@ Visualization Manager:
Size (Pixels): 3
Size (m): 0.01
Style: Points
- Topic: /odom_local_map
+ Topic: /voxel_cloud
Use Fixed Frame: true
Use rainbow: true
Value: true
@@ -350,32 +383,32 @@ Visualization Manager:
Views:
Current:
Class: rtabmap/OrbitOriented
- Distance: 6.10754
+ Distance: 10.327
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
- X: -0.963614
- Y: -1.20902
- Z: 0.399736
+ X: 1.29372
+ Y: -0.0308032
+ Z: -0.622506
Name: Current View
Near Clip Distance: 0.01
- Pitch: 0.559801
+ Pitch: 1.3098
Target Frame: base_footprint
Value: OrbitOriented (rtabmap)
- Yaw: 3.13741
+ Yaw: 3.11245
Saved: ~
Window Geometry:
Displays:
collapsed: false
- Height: 535
+ Height: 826
Hide Left Dock: false
Hide Right Dock: false
Image:
collapsed: false
- QMainWindow State: 000000ff00000000fd000000040000000000000151000001d1fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000000f6000000dd00fffffffb0000000a0049006d0061006700650100000124000000d50000001600fffffffb0000000a0049006d0061006700650000000184000000490000000000000000fb0000000a0049006d006100670065010000027d000000fa0000000000000000fb0000001e0054006f006f006c002000500072006f007000650072007400690065007300000002f7000000800000006400ffffff000000010000010f000001d1fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000001d1000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003ad000001d100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ QMainWindow State: 000000ff00000000fd000000040000000000000151000002f4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000192000000dd00fffffffb0000000a0049006d00610067006501000001c00000015c0000001600fffffffb0000000a0049006d0061006700650000000184000000490000000000000000fb0000000a0049006d006100670065010000027d000000fa0000000000000000fb0000001e0054006f006f006c002000500072006f007000650072007400690065007300000002f7000000800000006400ffffff000000010000010f000002f4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000002f4000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003ad000002f400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
diff --git a/launch/config/azimut3_stereo_nav.rviz b/launch/config/azimut3_stereo_nav.rviz
new file mode 100644
index 00000000..6b7ea693
--- /dev/null
+++ b/launch/config/azimut3_stereo_nav.rviz
@@ -0,0 +1,444 @@
+Panels:
+ - Class: rviz/Displays
+ Help Height: 0
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /Global Options1
+ - /TF1/Frames1
+ Splitter Ratio: 0.601881
+ Tree Height: 304
+ - Class: rviz/Selection
+ Name: Selection
+ - Class: rviz/Views
+ Expanded:
+ - /Current View1
+ - /Current View1/Focal Point1
+ Name: Views
+ Splitter Ratio: 0.5
+ - Class: rviz/Time
+ Experimental: false
+ Name: Time
+ SyncMode: 0
+ SyncSource: PointCloud2
+ - Class: rviz/Tool Properties
+ Expanded:
+ - /2D Pose Estimate1
+ - /2D Nav Goal1
+ Name: Tool Properties
+ Splitter Ratio: 0.5
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Alpha: 0.5
+ Cell Size: 1
+ 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: 10
+ Reference Frame: map
+ Value: true
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 2.02684
+ Min Value: -1.12646
+ Value: true
+ Axis: Z
+ Channel Name: rgb
+ Class: rviz/PointCloud2
+ Color: 255; 255; 255
+ Color Transformer: Intensity
+ Decay Time: 0
+ Enabled: true
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 2.34177e-38
+ Min Color: 0; 0; 0
+ Min Intensity: 9.21942e-41
+ Name: PointCloud2
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.01
+ Style: Points
+ Topic: /odom_last_frame
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ - Class: rviz/TF
+ Enabled: true
+ Frame Timeout: 15
+ Frames:
+ All Enabled: false
+ az3_base_link:
+ Value: true
+ az3_odom:
+ Value: true
+ base_footprint:
+ Value: true
+ base_laser_link:
+ Value: true
+ base_link:
+ Value: true
+ map:
+ Value: true
+ odom:
+ Value: true
+ stereo_camera:
+ Value: true
+ stereo_camera_base:
+ Value: true
+ wheelLB_linkWheel_link:
+ Value: true
+ wheelLB_wheel_link:
+ Value: true
+ wheelLF_linkWheel_link:
+ Value: true
+ wheelLF_wheel_link:
+ Value: true
+ wheelRB_linkWheel_link:
+ Value: true
+ wheelRB_wheel_link:
+ Value: true
+ wheelRF_linkWheel_link:
+ Value: true
+ wheelRF_wheel_link:
+ Value: true
+ Marker Scale: 1
+ Name: TF
+ Show Arrows: true
+ Show Axes: true
+ Show Names: true
+ Tree:
+ map:
+ odom:
+ base_footprint:
+ base_link:
+ base_laser_link:
+ {}
+ stereo_camera_base:
+ stereo_camera:
+ {}
+ wheelLB_linkWheel_link:
+ wheelLB_wheel_link:
+ {}
+ wheelLF_linkWheel_link:
+ wheelLF_wheel_link:
+ {}
+ wheelRB_linkWheel_link:
+ wheelRB_wheel_link:
+ {}
+ wheelRF_linkWheel_link:
+ wheelRF_wheel_link:
+ {}
+ Update Interval: 0
+ Value: true
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: -0.851967
+ Min Value: -2.15198
+ Value: true
+ Axis: X
+ Channel Name: intensity
+ Class: rviz/LaserScan
+ Color: 255; 255; 255
+ 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: LaserScan
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 5
+ Size (m): 0.01
+ Style: Points
+ Topic: /base_scan
+ Use Fixed Frame: false
+ Use rainbow: true
+ Value: true
+ - Alpha: 0.7
+ Class: rviz/Map
+ Color Scheme: map
+ Draw Behind: false
+ Enabled: true
+ Name: Map
+ Topic: /map
+ Value: true
+ - Alpha: 0.7
+ Class: rviz/Map
+ Color Scheme: costmap
+ Draw Behind: false
+ Enabled: true
+ Name: Map
+ Topic: /planner/move_base/local_costmap/costmap
+ Value: true
+ - Alpha: 0.7
+ Class: rviz/Map
+ Color Scheme: costmap
+ Draw Behind: false
+ Enabled: true
+ Name: Map
+ Topic: /planner/move_base/global_costmap/costmap
+ 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_footprint:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ base_laser_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ wheelLB_linkWheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ wheelLB_wheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ wheelLF_linkWheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ wheelLF_wheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ wheelRB_linkWheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ wheelRB_wheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ wheelRF_linkWheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ wheelRF_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/Image
+ Enabled: true
+ Image Topic: /stereo_camera/left/image_rect_color_relay
+ Max Value: 1
+ Median window: 5
+ Min Value: 0
+ Name: Image
+ Normalize Range: true
+ Queue Size: 2
+ Transport Hint: raw
+ 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: rtabmap/MapCloud
+ Cloud decimation: 8
+ Cloud max depth (m): 4
+ Cloud voxel size (m): 0
+ Color: 255; 255; 255
+ Color Transformer: RGB8
+ Download graph: false
+ Download map: false
+ Enabled: true
+ Filter floor (m): 0.1
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 4096
+ Min Color: 0; 0; 0
+ Min Intensity: 0
+ Name: MapCloud
+ Node filtering angle (degrees): 0
+ Node filtering radius (m): 0
+ Position Transformer: XYZ
+ Size (Pixels): 3
+ Size (m): 0.01
+ Style: Points
+ Topic: /rtabmap/mapData_relay
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ - Class: rtabmap/Info
+ Enabled: true
+ Name: Info
+ Topic: /rtabmap/info
+ Value: true
+ - Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.1
+ Class: rviz/Pose
+ Color: 255; 25; 0
+ Enabled: true
+ Head Length: 0.3
+ Head Radius: 0.1
+ Name: Pose
+ Shaft Length: 1
+ Shaft Radius: 0.05
+ Shape: Arrow
+ Topic: /planner_goal
+ Value: true
+ - Alpha: 1
+ Buffer Length: 1
+ Class: rviz/Path
+ Color: 25; 255; 0
+ Enabled: true
+ Name: Path
+ Topic: /planner/move_base/TrajectoryPlannerROS/global_plan
+ Value: true
+ - Alpha: 1
+ Buffer Length: 1
+ Class: rviz/Path
+ Color: 2; 14; 255
+ Enabled: true
+ Name: Path
+ Topic: /planner/move_base/TrajectoryPlannerROS/local_plan
+ Value: true
+ - Alpha: 1
+ Class: rtabmap/MapGraph
+ Color: 0; 0; 255
+ Enabled: true
+ Name: MapGraph
+ Topic: /rtabmap/mapData_relay
+ 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: 85; 255; 0
+ Color Transformer: FlatColor
+ 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: PointCloud2
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.01
+ Style: Points
+ Topic: /odom_local_map
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
+ Fixed Frame: map
+ Frame Rate: 30
+ Name: root
+ Tools:
+ - Class: rviz/Interact
+ Hide Inactive Objects: true
+ - Class: rviz/MoveCamera
+ - Class: rviz/Select
+ - Class: rviz/Measure
+ - Class: rviz/SetInitialPose
+ Topic: /initialpose
+ - Class: rviz/SetGoal
+ Topic: /planner_goal
+ Value: true
+ Views:
+ Current:
+ Class: rtabmap/OrbitOriented
+ Distance: 6.3581
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.06
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Focal Point:
+ X: 0.0235024
+ Y: -0.0419514
+ Z: 0.22792
+ Name: Current View
+ Near Clip Distance: 0.01
+ Pitch: 0.799797
+ Target Frame: base_footprint
+ Value: OrbitOriented (rtabmap)
+ Yaw: 3.11245
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 765
+ Hide Left Dock: false
+ Hide Right Dock: false
+ Image:
+ collapsed: false
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