From c6c094f5659f44bbbb4bdaf150f2368975962547 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Fri, 14 Nov 2014 19:53:57 +0000 Subject: [PATCH] ros-pkg: updated azimut3 nav launch files git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@2004 f169173b-cf89-36c8-b27e-44dbe73f0c83 --- launch/azimut3/az3_mapping_client.launch | 46 +- ...v.launch => az3_mapping_client_nav.launch} | 0 launch/azimut3/az3_mapping_client_rviz.launch | 33 -- .../az3_mapping_client_stereo_nav.launch | 9 + launch/azimut3/az3_mapping_robot_nav.launch | 45 +- launch/config/azimut3_nav.rviz | 165 ++++--- launch/config/azimut3_stereo_nav.rviz | 444 ++++++++++++++++++ 7 files changed, 602 insertions(+), 140 deletions(-) rename launch/azimut3/{az3_mapping_client_rviz_nav.launch => az3_mapping_client_nav.launch} (100%) delete mode 100644 launch/azimut3/az3_mapping_client_rviz.launch create mode 100644 launch/azimut3/az3_mapping_client_stereo_nav.launch create mode 100644 launch/config/azimut3_stereo_nav.rviz 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 @@ - - - - - - - - - + + + + + + + + + + + + + + - - - - - - - - - - + + + + + + + + + + + + + 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 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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 @@ - + - + - - - + + + - - - + + + - - + + - + + + + - - - - + + + + + + + + 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 + QMainWindow State: 000000ff00000000fd000000040000000000000151000002b7fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000171000000dd00fffffffb0000000a0049006d006100670065010000019f000001400000001600fffffffb0000000a0049006d0061006700650000000184000000490000000000000000fb0000000a0049006d006100670065010000027d000000fa0000000000000000fb0000001e0054006f006f006c002000500072006f007000650072007400690065007300000002f7000000800000006400ffffff000000010000010f000001d1fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000001d1000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000042f000002b700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1414 + X: 159 + Y: 54