Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Grid1
        - /PointCloud21
        - /TF1/Frames1
        - /Marker1/Namespaces1
        - /Odometry1
        - /PointCloud22
        - /PointCloud23
        - /Odometry2
        - /LaserScan1
        - /Map1
        - /Map1/Status1
      Splitter Ratio: 0.5
    Tree Height: 581
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
    Name: Tool Properties
    Splitter Ratio: 0.588679
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: LaserScan
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: odom
      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: RGB8
      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: /voxel_cloud
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Class: rviz/TF
      Enabled: true
      Frame Timeout: 15
      Frames:
        All Enabled: false
        L_forearm_link:
          Value: true
        L_frame_tool_link:
          Value: true
        L_gripper_up_link:
          Value: true
        L_shoulder_fixed_link:
          Value: true
        L_shoulder_pan_link:
          Value: true
        L_shoulder_tilt_link:
          Value: true
        L_upper_arm_link:
          Value: true
        R_forearm_link:
          Value: true
        R_frame_tool_link:
          Value: true
        R_gripper_up_link:
          Value: true
        R_shoulder_fixed_link:
          Value: true
        R_shoulder_pan_link:
          Value: true
        R_shoulder_tilt_link:
          Value: true
        R_upper_arm_link:
          Value: true
        base_footprint:
          Value: true
        base_laser_link:
          Value: true
        base_link:
          Value: true
        head_l_eye_eyebrow_link:
          Value: true
        head_l_eye_link:
          Value: true
        head_l_eye_pupil_link:
          Value: true
        head_link:
          Value: true
        head_r_eye_eyebrow_link:
          Value: true
        head_r_eye_link:
          Value: true
        head_r_eye_pupil_link:
          Value: true
        map:
          Value: true
        neck_bracket_link:
          Value: true
        neck_pan_link:
          Value: true
        neck_tilt_link:
          Value: true
        neck_top_frame:
          Value: true
        odom:
          Value: true
        openni_base_link:
          Value: true
        openni_camera_link:
          Value: true
        openni_depth_frame:
          Value: true
        openni_depth_optical_frame:
          Value: true
        openni_rgb_frame:
          Value: true
        openni_rgb_optical_frame:
          Value: true
        torso_imu_link:
          Value: true
        torso_link:
          Value: true
        torso_stand_link:
          Value: true
        torso_top_frame:
          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:
            {}
      Update Interval: 0
      Value: true
    - Class: rviz/Marker
      Enabled: true
      Marker Topic: visualization_marker
      Name: Marker
      Namespaces:
        {}
      Queue Size: 100
      Value: true
    - Class: rviz/Marker
      Enabled: true
      Marker Topic: /visualization_marker_wheels
      Name: Marker
      Namespaces:
        {}
      Queue Size: 100
      Value: true
    - Angle Tolerance: 0
      Class: rviz/Odometry
      Color: 255; 25; 0
      Enabled: true
      Keep: 1
      Length: 1
      Name: Odometry
      Position Tolerance: 0
      Topic: /odom
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 2.3372
        Min Value: -0.700095
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/PointCloud2
      Color: 255; 255; 255
      Color Transformer: RGB8
      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: /assembled_clouds
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 4.00237
        Min Value: 0.462084
        Value: true
      Axis: Z
      Channel Name: intensity
      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: 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: /assembled_scans
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 2.1283
        Min Value: -0.00552607
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/PointCloud2
      Color: 255; 255; 255
      Color Transformer: AxisColor
      Decay Time: 0
      Enabled: false
      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: Flat Squares
      Topic: /cloud2
      Use Fixed Frame: true
      Use rainbow: true
      Value: false
    - Angle Tolerance: 0.01
      Class: rviz/Odometry
      Color: 255; 25; 0
      Enabled: true
      Keep: 1
      Length: 1
      Name: Odometry
      Position Tolerance: 0.01
      Topic: /odom_slam
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 1.97636
        Min Value: -11.138
        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): 3
      Size (m): 0.01
      Style: Flat Squares
      Topic: /jn0/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: /grid_map
      Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Fixed Frame: odom
    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: /move_base_simple/goal
  Value: true
  Views:
    Current:
      Class: rviz/Orbit
      Distance: 16.0582
      Focal Point:
        X: -0.102899
        Y: 0.0127649
        Z: 0.650117
      Name: Current View
      Near Clip Distance: 0.01
      Pitch: 0.6598
      Target Frame: base_link
      Value: Orbit (rviz)
      Yaw: 3.58419
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 754
  Hide Left Dock: false
  Hide Right Dock: false
  QMainWindow State: 000000ff00000000fd000000040000000000000136000002d4fc0200000006fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000000000002d4000000dd00fffffffb0000000a0049006d00610067006501000002b1000000c70000000000000000000000010000010f00000312fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000312000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000035a000002d400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 1174
  X: 42
  Y: 88