Panels:
  - Class: rviz/Displays
    Help Height: 0
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Grid1/Offset1
        - /TF1/Frames1
      Splitter Ratio: 0.37295082211494446
    Tree Height: 682
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.5886790156364441
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Name: Time
    SyncMode: 0
    SyncSource: Back LaserScan
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: 5
        Y: 5
        Z: 0
      Plane: XY
      Plane Cell Count: 100
      Reference Frame: map
      Value: true
    - Alpha: 0.4000000059604645
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: true
      Name: Map
      Topic: /map
      Unreliable: false
      Use Timestamp: false
      Value: true
    - Alpha: 0.5
      Class: rviz/RobotModel
      Collision Enabled: true
      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
        back_nanoscan3_base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        back_nanoscan3_sensor_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        base_footprint:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        bl_caster_rotation_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        bl_caster_wheel_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        br_caster_rotation_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        br_caster_wheel_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        camera_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        fl_caster_rotation_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        fl_caster_wheel_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        fr_caster_rotation_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        fr_caster_wheel_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        front_nanoscan3_base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        front_nanoscan3_sensor_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        imu_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        imu_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        left_wheel_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        lifting_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        right_wheel_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        surface:
          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: true
      Filter (blacklist): ""
      Filter (whitelist): ""
      Frame Timeout: 15
      Frames:
        All Enabled: false
        back_nanoscan3_base_link:
          Value: false
        back_nanoscan3_sensor_link:
          Value: false
        base_footprint:
          Value: true
        base_link:
          Value: false
        bl_caster_rotation_link:
          Value: false
        bl_caster_wheel_link:
          Value: false
        br_caster_rotation_link:
          Value: false
        br_caster_wheel_link:
          Value: false
        camera_link:
          Value: false
        fl_caster_rotation_link:
          Value: false
        fl_caster_wheel_link:
          Value: false
        fr_caster_rotation_link:
          Value: false
        fr_caster_wheel_link:
          Value: false
        front_nanoscan3_base_link:
          Value: false
        front_nanoscan3_sensor_link:
          Value: false
        imu_frame:
          Value: false
        imu_link:
          Value: false
        left_wheel_link:
          Value: false
        lifting_link:
          Value: false
        map:
          Value: true
        odom:
          Value: true
        right_wheel_link:
          Value: false
        surface:
          Value: false
      Marker Alpha: 1
      Marker Scale: 0.5
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: true
      Tree:
        map:
          odom:
            base_footprint:
              base_link:
                back_nanoscan3_base_link:
                  back_nanoscan3_sensor_link:
                    {}
                bl_caster_rotation_link:
                  bl_caster_wheel_link:
                    {}
                br_caster_rotation_link:
                  br_caster_wheel_link:
                    {}
                camera_link:
                  {}
                fl_caster_rotation_link:
                  fl_caster_wheel_link:
                    {}
                fr_caster_rotation_link:
                  fr_caster_wheel_link:
                    {}
                front_nanoscan3_base_link:
                  front_nanoscan3_sensor_link:
                    {}
                imu_link:
                  imu_frame:
                    {}
                left_wheel_link:
                  {}
                lifting_link:
                  surface:
                    {}
                right_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/LaserScan
      Color: 204; 0; 0
      Color Transformer: FlatColor
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Min Color: 0; 0; 0
      Name: Front LaserScan
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 6
      Size (m): 0.09000000357627869
      Style: Points
      Topic: f_scan
      Unreliable: false
      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/LaserScan
      Color: 0; 255; 0
      Color Transformer: FlatColor
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Min Color: 0; 0; 0
      Name: Back LaserScan
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.009999999776482582
      Style: Points
      Topic: /b_scan
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Alpha: 1
      Arrow Length: 0.20000000298023224
      Axes Length: 0.30000001192092896
      Axes Radius: 0.009999999776482582
      Class: rviz/PoseArray
      Color: 0; 192; 0
      Enabled: false
      Head Length: 0.07000000029802322
      Head Radius: 0.029999999329447746
      Name: Amcl Particle Swarm
      Queue Size: 10
      Shaft Length: 0.23000000417232513
      Shaft Radius: 0.009999999776482582
      Shape: Arrow (Flat)
      Topic: particlecloud
      Unreliable: false
      Value: false
    - Class: rviz/Group
      Displays:
        - Alpha: 0.5
          Class: rviz/Map
          Color Scheme: costmap
          Draw Behind: true
          Enabled: true
          Name: Costmap
          Topic: /global_costmap/costmap
          Unreliable: false
          Use Timestamp: false
          Value: true
        - Alpha: 1
          Buffer Length: 1
          Class: rviz/Path
          Color: 25; 255; 0
          Enabled: false
          Head Diameter: 0.30000001192092896
          Head Length: 0.20000000298023224
          Length: 0.20000000298023224
          Line Style: Lines
          Line Width: 0.05000000074505806
          Name: Full Plan
          Offset:
            X: 0
            Y: 0
            Z: 0.8999999761581421
          Pose Color: 255; 85; 255
          Pose Style: Axes
          Queue Size: 10
          Radius: 0.019999999552965164
          Shaft Diameter: 0.10000000149011612
          Shaft Length: 0.10000000149011612
          Topic: /amr_node/SBPLLatticePlanner/plan
          Unreliable: false
          Value: false
        - Alpha: 1
          Class: rviz/Polygon
          Color: 255; 0; 0
          Enabled: true
          Name: Footprint
          Queue Size: 10
          Topic: /global_costmap/costmap/footprint
          Unreliable: false
          Value: true
        - Alpha: 1
          Buffer Length: 1
          Class: rviz/Path
          Color: 25; 255; 0
          Enabled: true
          Head Diameter: 0.30000001192092896
          Head Length: 0.20000000298023224
          Length: 0.00800000037997961
          Line Style: Billboards
          Line Width: 0.009999999776482582
          Name: CustomPath
          Offset:
            X: 0
            Y: 0
            Z: 0.8999999761581421
          Pose Color: 255; 85; 255
          Pose Style: None
          Queue Size: 10
          Radius: 0.004999999888241291
          Shaft Diameter: 0.10000000149011612
          Shaft Length: 0.10000000149011612
          Topic: /amr_node/CustomPlanner/plan
          Unreliable: false
          Value: true
        - Alpha: 1
          Buffer Length: 1
          Class: rviz/Path
          Color: 0; 0; 0
          Enabled: false
          Head Diameter: 0.30000001192092896
          Head Length: 0.20000000298023224
          Length: 0.30000001192092896
          Line Style: Lines
          Line Width: 0.029999999329447746
          Name: Straight Path
          Offset:
            X: 0
            Y: 0
            Z: 0
          Pose Color: 255; 85; 255
          Pose Style: Axes
          Queue Size: 10
          Radius: 0.029999999329447746
          Shaft Diameter: 0.10000000149011612
          Shaft Length: 0.10000000149011612
          Topic: /amr_node/LocalPlannerAdapter/MKTGoStraightLocalPlanner/global_plan
          Unreliable: false
          Value: false
      Enabled: true
      Name: Global Map
    - Class: rviz/Group
      Displays:
        - Alpha: 1
          Buffer Length: 1
          Class: rviz/Path
          Color: 252; 175; 62
          Enabled: false
          Head Diameter: 0.30000001192092896
          Head Length: 0.20000000298023224
          Length: 0.03999999910593033
          Line Style: Lines
          Line Width: 0.029999999329447746
          Name: Global Path
          Offset:
            X: 0
            Y: 0
            Z: 0
          Pose Color: 255; 85; 255
          Pose Style: Axes
          Queue Size: 10
          Radius: 0.009999999776482582
          Shaft Diameter: 0.10000000149011612
          Shaft Length: 0.10000000149011612
          Topic: /amr_node/LocalPlannerAdapter/global_plan
          Unreliable: false
          Value: false
        - Alpha: 0.699999988079071
          Class: rviz/Map
          Color Scheme: map
          Draw Behind: false
          Enabled: true
          Name: Costmap
          Topic: /local_costmap/costmap
          Unreliable: false
          Use Timestamp: false
          Value: true
        - Alpha: 1
          Class: rviz/Polygon
          Color: 25; 255; 0
          Enabled: true
          Name: Footprint
          Queue Size: 10
          Topic: /local_costmap/costmap/footprint
          Unreliable: false
          Value: true
        - Alpha: 1
          Buffer Length: 1
          Class: rviz/Path
          Color: 138; 226; 52
          Enabled: false
          Head Diameter: 0.30000001192092896
          Head Length: 0.20000000298023224
          Length: 0.029999999329447746
          Line Style: Billboards
          Line Width: 0.029999999329447746
          Name: Local Plan
          Offset:
            X: 0
            Y: 0
            Z: 0
          Pose Color: 255; 85; 255
          Pose Style: Axes
          Queue Size: 10
          Radius: 0.009999999776482582
          Shaft Diameter: 0.10000000149011612
          Shaft Length: 0.10000000149011612
          Topic: /amr_node/LocalPlannerAdapter/transformed_global_plan
          Unreliable: false
          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/PointCloud2
          Color: 255; 255; 255
          Color Transformer: Intensity
          Decay Time: 0
          Enabled: false
          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: /amr_node/PredictiveTrajectory/cost_cloud
          Unreliable: false
          Use Fixed Frame: true
          Use rainbow: true
          Value: false
        - Class: rviz/Group
          Displays:
            - Alpha: 1
              Axes Length: 0.10000000149011612
              Axes Radius: 0.029999999329447746
              Class: rviz/Pose
              Color: 0; 0; 0
              Enabled: true
              Head Length: 0.05000000074505806
              Head Radius: 0.05000000074505806
              Name: SubGoalPose
              Queue Size: 10
              Shaft Length: 0.029999999329447746
              Shaft Radius: 0.029999999329447746
              Shape: Arrow
              Topic: /amr_node/sub_goal
              Unreliable: false
              Value: true
            - Alpha: 1
              Axes Length: 0.30000001192092896
              Axes Radius: 0.10000000149011612
              Class: rviz/Pose
              Color: 252; 233; 79
              Enabled: false
              Head Length: 0.05000000074505806
              Head Radius: 0.05000000074505806
              Name: ClosetPose
              Queue Size: 10
              Shaft Length: 0.029999999329447746
              Shaft Radius: 0.029999999329447746
              Shape: Arrow
              Topic: /amr_node/closet_robot_goal
              Unreliable: false
              Value: false
            - Alpha: 1
              Axes Length: 0.05000000074505806
              Axes Radius: 0.019999999552965164
              Class: rviz/Pose
              Color: 173; 127; 168
              Enabled: false
              Head Length: 0.05000000074505806
              Head Radius: 0.05000000074505806
              Name: Look A Head Pose
              Queue Size: 10
              Shaft Length: 0.05000000074505806
              Shaft Radius: 0.029999999329447746
              Shape: Axes
              Topic: /amr_node/lookahead_point
              Unreliable: false
              Value: false
            - Alpha: 1
              Arrow Length: 0.30000001192092896
              Axes Length: 0.30000001192092896
              Axes Radius: 0.029999999329447746
              Class: rviz/PoseArray
              Color: 0; 0; 0
              Enabled: true
              Head Length: 0.07000000029802322
              Head Radius: 0.05000000074505806
              Name: reached intermediated goals
              Queue Size: 10
              Shaft Length: 0.23000000417232513
              Shaft Radius: 0.029999999329447746
              Shape: Axes
              Topic: /amr_node/reached_intermediate_goals
              Unreliable: false
              Value: true
            - Alpha: 1
              Buffer Length: 1
              Class: rviz/Path
              Color: 245; 121; 0
              Enabled: true
              Head Diameter: 0.30000001192092896
              Head Length: 0.019999999552965164
              Length: 0.029999999329447746
              Line Style: Billboards
              Line Width: 0.009999999776482582
              Name: transform plan
              Offset:
                X: 0
                Y: 0
                Z: 0.5
              Pose Color: 138; 226; 52
              Pose Style: Axes
              Queue Size: 10
              Radius: 0.019999999552965164
              Shaft Diameter: 0.009999999776482582
              Shaft Length: 0.009999999776482582
              Topic: /amr_node/transformed_plan
              Unreliable: false
              Value: true
            - Class: rviz/Marker
              Enabled: false
              Marker Topic: /amr_node/PredictiveTrajectory/cost_left_goals
              Name: L
              Namespaces:
                {}
              Queue Size: 100
              Value: false
            - Class: rviz/Marker
              Enabled: false
              Marker Topic: /amr_node/PredictiveTrajectory/cost_right_goals
              Name: R
              Namespaces:
                {}
              Queue Size: 100
              Value: false
          Enabled: true
          Name: Trajectory
      Enabled: true
      Name: Local Map
    - Alpha: 1
      Axes Length: 0.05000000074505806
      Axes Radius: 0.014999999664723873
      Class: rviz/Pose
      Color: 46; 52; 54
      Enabled: true
      Head Length: 0.30000001192092896
      Head Radius: 0.10000000149011612
      Name: Pose
      Queue Size: 10
      Shaft Length: 1
      Shaft Radius: 0.05000000074505806
      Shape: Axes
      Topic: /amr_node/current_goal
      Unreliable: false
      Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Default Light: true
    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
      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
    - Class: rviz/Measure
    - Class: rviz/PublishPoint
      Single click: true
      Topic: clicked_point
  Value: true
  Views:
    Current:
      Angle: -3.150002956390381
      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: -62.776824951171875
      Target Frame: base_link
      X: 1.189023494720459
      Y: 0.44669991731643677
    Saved:
      - Angle: -34.55989074707031
        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: TopDownOrtho
        Near Clip Distance: 0.009999999776482582
        Scale: -132.97349548339844
        Target Frame: base_link
        X: 34.338645935058594
        Y: 35.28913879394531
Window Geometry:
  Displays:
    collapsed: false
  Height: 833
  Hide Left Dock: false
  Hide Right Dock: false
  QMainWindow State: 000000ff00000000fd000000040000000000000156000002e7fc0200000008fb000000100044006900730070006c006100790073010000003d000002e7000000c900fffffffb0000001200530065006c0065006300740069006f006e000000003d000002590000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001b500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000000a0049006d006100670065000000003d0000039e0000000000000000fb0000000c00430061006d006500720061020000007c0000013600000280000001e0fb0000000c00430061006d0065007200610200000644000000b7000002c1000002f9000000010000010f00000259fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000259000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000041800000168fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007520000003efc0100000002fb0000000800540069006d00650000000000000007520000041800fffffffb0000000800540069006d00650100000000000004500000000000000000000002d9000002e700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 1077
  X: 0
  Y: 0
