Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Local Costmap1
        - /Local Footprint1
        - /PointCloud21
      Splitter Ratio: 0.5
    Tree Height: 169
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
Preferences:
  PromptSaveOnExit: true
Toolbars:
  toolButtonStyle: 2
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz/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: 20
      Reference Frame: <Fixed Frame>
      Value: true
    - Class: rviz/TF
      Enabled: true
      Filter (blacklist): ""
      Filter (whitelist): ""
      Frame Timeout: 15
      Frames:
        All Enabled: true
        base_footprint:
          Value: true
        base_link:
          Value: true
        camera_depth_optical_frame:
          Value: true
        left_wheel_link:
          Value: true
        odom:
          Value: true
        right_wheel_link:
          Value: true
        surface:
          Value: true
      Marker Alpha: 1
      Marker Scale: 0.4000000059604645
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: true
      Tree:
        odom:
          base_footprint:
            base_link:
              camera_depth_optical_frame:
                {}
              left_wheel_link:
                {}
              right_wheel_link:
                {}
              surface:
                {}
      Update Interval: 0
      Value: true
    - Alpha: 0.75
      Class: rviz/Map
      Color Scheme: costmap
      Draw Behind: false
      Enabled: true
      Name: Local Costmap
      Topic: /local_costmap/costmap
      Unreliable: false
      Use Timestamp: false
      Value: true
    - Alpha: 1
      Class: rviz/Polygon
      Color: 25; 255; 0
      Enabled: true
      Name: Local Footprint
      Queue Size: 10
      Topic: /local_costmap/costmap/footprint
      Unreliable: false
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 1.1723917722702026
        Min Value: -0.052282363176345825
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/PointCloud2
      Color: 255; 255; 255
      Color Transformer: AxisColor
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Min Color: 0; 0; 0
      Name: PointCloud2
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.009999999776482582
      Style: Flat Squares
      Topic: /camera/depth/points_proc
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Class: rviz/Image
      Enabled: true
      Image Topic: /camera/color/image_raw
      Max Value: 1
      Median window: 5
      Min Value: 0
      Name: Image
      Normalize Range: true
      Queue Size: 2
      Transport Hint: raw
      Unreliable: false
      Value: true
    - Class: rviz/Image
      Enabled: true
      Image Topic: /camera/depth/image_raw
      Max Value: 1
      Median window: 5
      Min Value: 0
      Name: Image
      Normalize Range: true
      Queue Size: 2
      Transport Hint: raw
      Unreliable: false
      Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Default Light: true
    Fixed Frame: odom
    Frame Rate: 30
  Name: root
  Tools:
    - Class: rviz/Interact
      Hide Inactive Objects: true
    - Class: rviz/MoveCamera
    - Class: rviz/Select
    - Class: rviz/FocusCamera
    - Class: rviz/Measure
    - Class: rviz/SetInitialPose
      Theta std deviation: 0.2617993950843811
      Topic: /initialpose
      X std deviation: 0.5
      Y std deviation: 0.5
    - Class: rviz/SetGoal
      Topic: /move_base_simple/goal
  Value: true
  Views:
    Current:
      Angle: 0
      Class: rviz/TopDownOrtho
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Scale: 92.27959442138672
      Target Frame: <Fixed Frame>
      X: 6.780127048492432
      Y: -10.79004192352295
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 1016
  Hide Left Dock: false
  Hide Right Dock: false
  Image:
    collapsed: false
  QMainWindow State: 000000ff00000000fd0000000100000000000001f40000039efc0200000004fb000000100044006900730070006c006100790073000000003d00000134000000c900fffffffb0000000a00560069006500770073000000003d0000010e000000a400fffffffb0000000a0049006d006100670065010000003d000001880000001600fffffffb0000000a0049006d00610067006501000001cb000002100000001600ffffff0000053e0000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Views:
    collapsed: false
  Width: 1848
  X: 72
  Y: 27