Panels:
  - Class: rviz/Displays
    Help Height: 0
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /TF1/Frames1
        - /MapCloud1
        - /Path1
        - /Path2
      Splitter Ratio: 0.601881
    Tree Height: 437
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: ""
  - 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
    - Class: rviz/TF
      Enabled: true
      Frame Timeout: 15
      Frames:
        All Enabled: false
        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
        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:
                  {}
                camera_link:
                  camera_depth_frame:
                    camera_depth_optical_frame:
                      {}
                  camera_rgb_frame:
                    camera_rgb_optical_frame:
                      {}
                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: 3.46596
        Min Value: -5.27159e-08
        Value: true
      Axis: X
      Channel Name: intensity
      Class: rviz/LaserScan
      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: 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: false
    - 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: false
      Name: Map
      Topic: /planner/move_base/global_costmap/costmap
      Value: false
    - 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: false
      Image Topic: /camera/data_throttled_image_relay
      Max Value: 1
      Median window: 5
      Min Value: 0
      Name: Image
      Normalize Range: true
      Queue Size: 2
      Transport Hint: raw
      Value: false
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 10
        Min Value: -10
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rtabmap_ros/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_ros/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
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 4.11231
        Min Value: -0.00766382
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/PointCloud2
      Color: 85; 255; 0
      Color Transformer: RGB8
      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: Points
      Topic: /voxel_cloud
      Use Fixed Frame: true
      Use rainbow: true
      Value: false
    - Alpha: 1
      Class: rtabmap_ros/MapGraph
      Color: 255; 0; 0
      Enabled: true
      Name: MapGraph
      Topic: /rtabmap/mapData_relay
      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: rviz/Orbit
      Distance: 3.44552
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.06
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 0.0430748
        Y: -0.00858197
        Z: -0.156054
      Name: Current View
      Near Clip Distance: 0.01
      Pitch: 0.9304
      Target Frame: base_footprint
      Value: Orbit (rviz)
      Yaw: 2.26538
    Saved: ~
Window Geometry:
  Displays:
    collapsed: true
  Height: 504
  Hide Left Dock: true
  Hide Right Dock: false
  Image:
    collapsed: false
  QMainWindow State: 000000ff00000000fd0000000400000000000001510000028ffc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007300000000280000028f000000dd00fffffffb0000000a0049006d006100670065000000018a0000012d0000001600fffffffb0000000a0049006d0061006700650000000184000000490000000000000000fb0000000a0049006d006100670065010000027d000000fa0000000000000000fb0000001e0054006f006f006c002000500072006f007000650072007400690065007300000002f7000000800000006400ffffff000000010000010f000001b2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000001b2000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000002ca000001b200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 714
  X: 935
  Y: 32