Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Local Costmap1
        - /Local Footprint1
      Splitter Ratio: 0.5
    Tree Height: 560
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
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: 20
      Reference Frame: <Fixed Frame>
      Value: true
    - Class: rviz/TF
      Enabled: true
      Frame Timeout: 15
      Frames:
        All Enabled: true
      Marker Scale: 0.4
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: true
      Tree:
        {}
      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
      Topic: /local_costmap/costmap/footprint
      Unreliable: false
      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/FocusCamera
    - Class: rviz/Measure
    - Class: rviz/SetInitialPose
      Topic: /initialpose
    - Class: rviz/SetGoal
      Topic: /move_base_simple/goal
  Value: true
  Views:
    Current:
      Class: rviz/TopDownOrtho
      Name: Current View
      Scale: 12
      Target Frame: <Fixed Frame>
      X: 0
      Y: 0
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 900
  Hide Left Dock: false
  Hide Right Dock: false
  QMainWindow State: 000000ff00000000fd0000000100000000000001f40000032efc0200000001fb000000100044006900730070006c006100790073010000003d0000032e000000c900ffffff000003840000032e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Views:
    collapsed: false
  Width: 1200
  X: 80
  Y: 60