Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /TF1/Frames1
        - /TF1/Tree1
        - /Global Map1/Costmap1
        - /Global Map1/Planner1
        - /Local Map1/Costmap1
        - /Local Map1/Planner1
      Splitter Ratio: 0.5
    Tree Height: 481
  - 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: Rtabmap cloud
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
      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
        base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        camera_depth_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_depth_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        camera_rgb_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_rgb_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        caster_back_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        caster_front_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        cliff_sensor_front_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        cliff_sensor_left_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        cliff_sensor_right_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        gyro_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        plate_bottom_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        plate_middle_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        plate_top_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_bottom_0_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_bottom_1_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_bottom_2_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_bottom_3_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_bottom_4_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_bottom_5_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_kinect_0_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_kinect_1_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_middle_0_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_middle_1_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_middle_2_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_middle_3_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_top_0_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_top_1_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_top_2_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_top_3_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        wheel_left_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        wheel_right_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/TF
      Enabled: false
      Frame Timeout: 15
      Frames:
        All Enabled: false
      Marker Scale: 1
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: false
      Tree:
        {}
      Update Interval: 0
      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: rviz/LaserScan
      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: LaserScan
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.01
      Style: Squares
      Topic: /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: rviz/PointCloud2
      Color: 255; 0; 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: Bumper Hit
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.08
      Style: Spheres
      Topic: /mobile_base/sensors/bumper_pointcloud
      Use Fixed Frame: true
      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
    - Class: rviz/Group
      Displays:
        - Alpha: 0.7
          Class: rviz/Map
          Color Scheme: costmap
          Draw Behind: true
          Enabled: true
          Name: Costmap
          Topic: /move_base/global_costmap/costmap
          Value: true
        - Alpha: 1
          Buffer Length: 1
          Class: rviz/Path
          Color: 255; 0; 0
          Enabled: true
          Name: Planner
          Topic: /move_base/TrajectoryPlannerROS/global_plan
          Value: true
      Enabled: true
      Name: Global Map
    - Class: rviz/Group
      Displays:
        - Alpha: 0.7
          Class: rviz/Map
          Color Scheme: costmap
          Draw Behind: false
          Enabled: true
          Name: Costmap
          Topic: /move_base/local_costmap/costmap
          Value: true
        - Alpha: 1
          Buffer Length: 1
          Class: rviz/Path
          Color: 0; 12; 255
          Enabled: true
          Name: Planner
          Topic: /move_base/TrajectoryPlannerROS/local_plan
          Value: true
      Enabled: true
      Name: Local Map
    - Arrow Length: 0.2
      Class: rviz/PoseArray
      Color: 0; 192; 0
      Enabled: true
      Name: Amcl Particles
      Topic: /particlecloud
      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_ros/MapCloud
      Cloud decimation: 4
      Cloud max depth (m): 4
      Cloud voxel size (m): 0.05
      Color: 255; 255; 255
      Color Transformer: RGB8
      Download graph: false
      Download map: false
      Enabled: true
      Filter floor (m): 0
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 4096
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: Rtabmap cloud
      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
      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/MoveCamera
    - Class: rviz/Interact
      Hide Inactive Objects: true
    - Class: rviz/Select
    - Class: rviz/SetInitialPose
      Topic: /initialpose
    - Class: rviz/SetGoal
      Topic: /move_base_simple/goal
    - Class: rviz/Measure
  Value: true
  Views:
    Current:
      Class: rviz/Orbit
      Distance: 5.31174
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.06
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 0.00901246
        Y: -0.126793
        Z: 0.0223136
      Name: Current View
      Near Clip Distance: 0.01
      Pitch: 1.3598
      Target Frame: base_footprint
      Value: Orbit (rviz)
      Yaw: 3.12914
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 694
  Hide Left Dock: false
  Hide Right Dock: false
  QMainWindow State: 000000ff00000000fd0000000400000000000001e500000270fc0200000005fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000270000000dd00ffffff000000010000010f00000270fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000270000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000002df0000027000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 1503
  X: 85
  Y: 188