Panels:
  - Class: rviz_common/Displays
    Help Height: 0
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
      Splitter Ratio: 0.5
    Tree Height: 627
  - 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: MapCloud
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz_default_plugins/Grid
      Color: 160; 160; 164
      Enabled: true
      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: 10
      Reference Frame: <Fixed Frame>
      Value: true
    - Alpha: 0.699999988079071
      Class: rviz_default_plugins/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: true
      Name: Map
      Topic:
        Depth: 5
        Durability Policy: Volatile
        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: true
    - Class: rviz_default_plugins/TF
      Enabled: true
      Frame Timeout: 15
      Frames:
        All Enabled: true
        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: false
      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: 10
        Min Value: -10
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz_default_plugins/LaserScan
      Color: 237; 51; 59
      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: LaserScan
      Position Transformer: XYZ
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.009999999776482582
      Style: Points
      Topic:
        Depth: 5
        Durability Policy: Volatile
        Filter size: 10
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /jn0/base_scan
      Use Fixed Frame: true
      Use rainbow: true
      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_rviz_plugins/MapCloud
      Cloud decimation: 4
      Cloud from scan: false
      Cloud max depth (m): 4
      Cloud min depth (m): 0
      Cloud voxel size (m): 0.009999999776482582
      Color: 255; 255; 255
      Color Transformer: RGB8
      Download graph: false
      Download map: false
      Download namespace: rtabmap
      Enabled: true
      Filter ceiling (m): 0
      Filter floor (m): 0
      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): 30
      Node filtering radius (m): 0
      Position Transformer: XYZ
      Size (Pixels): 3
      Size (m): 0.009999999776482582
      Style: Points
      Topic:
        Depth: 5
        Durability Policy: Volatile
        Filter size: 10
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /mapData
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Alpha: 1
      Class: rtabmap_rviz_plugins/MapGraph
      Enabled: true
      Global loop closure: 255; 0; 0
      Landmark: 0; 128; 0
      Local loop closure: 255; 255; 0
      Merged neighbor: 255; 170; 0
      Name: MapGraph
      Neighbor: 0; 0; 255
      Topic:
        Depth: 5
        Durability Policy: Volatile
        Filter size: 10
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /mapGraph
      User: 255; 0; 0
      Value: true
      Virtual: 255; 0; 255
    - Class: rviz_common/Group
      Displays:
        - Alpha: 1
          Autocompute Intensity Bounds: true
          Autocompute Value Bounds:
            Max Value: 10
            Min Value: -10
            Value: true
          Axis: Z
          Channel Name: intensity
          Class: rviz_default_plugins/PointCloud2
          Color: 0; 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: Current Frame
          Position Transformer: XYZ
          Selectable: true
          Size (Pixels): 3
          Size (m): 0.009999999776482582
          Style: Points
          Topic:
            Depth: 5
            Durability Policy: Volatile
            Filter size: 10
            History Policy: Keep Last
            Reliability Policy: Reliable
            Value: /odom_last_frame
          Use Fixed Frame: true
          Use rainbow: true
          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_default_plugins/PointCloud2
          Color: 0; 255; 0
          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: Local Feature Map
          Position Transformer: XYZ
          Selectable: true
          Size (Pixels): 3
          Size (m): 0.009999999776482582
          Style: Points
          Topic:
            Depth: 5
            Durability Policy: Volatile
            Filter size: 10
            History Policy: Keep Last
            Reliability Policy: Reliable
            Value: /odom_local_map
          Use Fixed Frame: true
          Use rainbow: true
          Value: true
      Enabled: true
      Name: VO
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Fixed Frame: map
    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/Orbit
      Distance: 7.2877197265625
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 0
        Y: 0
        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: 0.8703982830047607
      Target Frame: base_footprint
      Value: Orbit (rviz)
      Yaw: 3.7535834312438965
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 846
  Hide Left Dock: false
  Hide Right Dock: false
  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006330000003efc0100000002fb0000000800540069006d0065010000000000000633000002fb00fffffffb0000000800540069006d00650100000000000004500000000000000000000003c2000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 1587
  X: 214
  Y: 77