Panels:
  - Class: rviz/Displays
    Help Height: 81
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Grid1/Offset1
        - /TF1/Frames1
        - /TF1/Tree1
        - /Global Map1
        - /Global Map1/Costmap1
        - /Global Map1/Full Plan1
        - /Local Map1
        - /Local Map1/DWB Markers1/Namespaces1
      Splitter Ratio: 0.42881646752357483
    Tree Height: 641
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /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: 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: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 50
      Reference Frame: <Fixed Frame>
      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
        back_laser_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        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
        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_laser_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        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
        right_wheel_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        surface:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        us_1_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        us_2_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
      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_laser_link:
          Value: true
        base_footprint:
          Value: true
        base_link:
          Value: true
        bl_caster_rotation_link:
          Value: true
        bl_caster_wheel_link:
          Value: true
        br_caster_rotation_link:
          Value: true
        br_caster_wheel_link:
          Value: true
        fl_caster_rotation_link:
          Value: true
        fl_caster_wheel_link:
          Value: true
        fr_caster_rotation_link:
          Value: true
        fr_caster_wheel_link:
          Value: true
        front_laser_link:
          Value: true
        imu_frame:
          Value: true
        imu_link:
          Value: true
        left_wheel_link:
          Value: true
        map:
          Value: true
        odom:
          Value: true
        right_wheel_link:
          Value: true
        surface:
          Value: true
        us_1_frame:
          Value: true
        us_2_frame:
          Value: true
      Marker Alpha: 1
      Marker Scale: 1
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: false
      Tree:
        map:
          odom:
            base_footprint:
              base_link:
                back_laser_link:
                  {}
                bl_caster_rotation_link:
                  bl_caster_wheel_link:
                    {}
                br_caster_rotation_link:
                  br_caster_wheel_link:
                    {}
                fl_caster_rotation_link:
                  fl_caster_wheel_link:
                    {}
                fr_caster_rotation_link:
                  fr_caster_wheel_link:
                    {}
                front_laser_link:
                  {}
                imu_link:
                  imu_frame:
                    {}
                left_wheel_link:
                  {}
                right_wheel_link:
                  {}
                surface:
                  {}
                us_1_frame:
                  {}
                us_2_frame:
                  {}
      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: 239; 41; 41
      Color Transformer: FlatColor
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Min Color: 0; 0; 0
      Name: LaserScan
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 5
      Size (m): 0.20000000298023224
      Style: Points
      Topic: 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/PointCloud2
      Color: 255; 0; 0
      Color Transformer: FlatColor
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Min Color: 0; 0; 0
      Name: Bumper Hit
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.07999999821186066
      Style: Spheres
      Topic: mobile_base/sensors/bumper_pointcloud
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Class: rviz/Group
      Displays:
        - Alpha: 0.699999988079071
          Class: rviz/Map
          Color Scheme: costmap
          Draw Behind: true
          Enabled: true
          Name: Costmap
          Topic: /move_base_node/global_costmap/costmap
          Unreliable: false
          Use Timestamp: false
          Value: true
        - Alpha: 1
          Buffer Length: 1
          Class: rviz/Path
          Color: 252; 175; 62
          Enabled: false
          Head Diameter: 0.30000001192092896
          Head Length: 0.20000000298023224
          Length: 0.30000001192092896
          Line Style: Billboards
          Line Width: 0.029999999329447746
          Name: Global Plan (DWB)
          Offset:
            X: 0
            Y: 0
            Z: 0
          Pose Color: 255; 85; 255
          Pose Style: None
          Queue Size: 10
          Radius: 0.029999999329447746
          Shaft Diameter: 0.10000000149011612
          Shaft Length: 0.10000000149011612
          Topic: /move_base_node/DWBLocalPlanner/global_plan
          Unreliable: false
          Value: false
        - Alpha: 1
          Buffer Length: 1
          Class: rviz/Path
          Color: 239; 41; 41
          Enabled: true
          Head Diameter: 0.30000001192092896
          Head Length: 0.20000000298023224
          Length: 0.30000001192092896
          Line Style: Billboards
          Line Width: 0.029999999329447746
          Name: Full Plan
          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: /move_base_node/SBPLLatticePlanner/plan
          Unreliable: true
          Value: true
        - Alpha: 1
          Class: rviz/Polygon
          Color: 0; 12; 255
          Enabled: false
          Name: Footprint
          Queue Size: 10
          Topic: move_base_node/global_costmap/footprint
          Unreliable: true
          Value: false
        - Class: rviz/Marker
          Enabled: false
          Marker Topic: /move_base_node/SBPLLatticePlanner/footprint_markers
          Name: Marker
          Namespaces:
            {}
          Queue Size: 100
          Value: false
      Enabled: true
      Name: Global Map
    - Class: rviz/Group
      Displays:
        - Alpha: 0.699999988079071
          Class: rviz/Map
          Color Scheme: costmap
          Draw Behind: false
          Enabled: true
          Name: Costmap
          Topic: move_base_node/local_costmap/costmap
          Unreliable: false
          Use Timestamp: false
          Value: true
        - Alpha: 1
          Class: rviz/GridCells
          Color: 25; 255; 0
          Enabled: false
          Name: Costmap (MiR)
          Queue Size: 10
          Topic: move_base_node/local_costmap/obstacles
          Unreliable: false
          Value: false
        - Alpha: 1
          Buffer Length: 1
          Class: rviz/Path
          Color: 0; 12; 255
          Enabled: true
          Head Diameter: 0.30000001192092896
          Head Length: 0.20000000298023224
          Length: 0.20000000298023224
          Line Style: Lines
          Line Width: 0.05000000074505806
          Name: Local Plan (DWB)
          Offset:
            X: 0
            Y: 0
            Z: 0
          Pose Color: 255; 85; 255
          Pose Style: Axes
          Queue Size: 10
          Radius: 0.019999999552965164
          Shaft Diameter: 0.10000000149011612
          Shaft Length: 0.10000000149011612
          Topic: move_base_node/DWBLocalPlanner/local_plan
          Unreliable: false
          Value: true
        - Alpha: 1
          Buffer Length: 1
          Class: rviz/Path
          Color: 255; 25; 0
          Enabled: false
          Head Diameter: 0.30000001192092896
          Head Length: 0.20000000298023224
          Length: 0.30000001192092896
          Line Style: Billboards
          Line Width: 0.029999999329447746
          Name: TransformedToLocalPath
          Offset:
            X: 0
            Y: 0
            Z: 0
          Pose Color: 255; 85; 255
          Pose Style: None
          Queue Size: 10
          Radius: 0.029999999329447746
          Shaft Diameter: 0.10000000149011612
          Shaft Length: 0.10000000149011612
          Topic: /move_base_node/DWBLocalPlanner/transformed_global_plan
          Unreliable: false
          Value: false
        - Alpha: 1
          Class: rviz/Polygon
          Color: 204; 0; 0
          Enabled: true
          Name: Footprint
          Queue Size: 10
          Topic: move_base_node/local_costmap/footprint
          Unreliable: false
          Value: true
        - Alpha: 0.30000001192092896
          Autocompute Intensity Bounds: false
          Autocompute Value Bounds:
            Max Value: 10
            Min Value: -10
            Value: true
          Axis: Z
          Channel Name: total_cost
          Class: rviz/PointCloud2
          Color: 255; 255; 255
          Color Transformer: Intensity
          Decay Time: 0
          Enabled: false
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Max Intensity: 40
          Min Color: 0; 0; 0
          Min Intensity: 0
          Name: Cost Cloud
          Position Transformer: XYZ
          Queue Size: 10
          Selectable: true
          Size (Pixels): 3
          Size (m): 0.03999999910593033
          Style: Flat Squares
          Topic: move_base_node/DWBLocalPlanner/cost_cloud
          Unreliable: false
          Use Fixed Frame: true
          Use rainbow: true
          Value: false
        - Class: rviz/MarkerArray
          Enabled: true
          Marker Topic: move_base_node/DWBLocalPlanner/markers
          Name: DWB Markers
          Namespaces:
            {}
          Queue Size: 100
          Value: true
      Enabled: true
      Name: Local Map
    - 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/MarkerArray
      Enabled: false
      Marker Topic: /move_base_node/WaypointsSBPLPlanner/waypoints
      Name: Waypoints
      Namespaces:
        {}
      Queue Size: 100
      Value: false
    - Alpha: 1
      Arrow Length: 2
      Axes Length: 0.20000000298023224
      Axes Radius: 0.019999999552965164
      Class: rviz/PoseArray
      Color: 255; 25; 0
      Enabled: false
      Head Length: 0.10000000149011612
      Head Radius: 0.029999999329447746
      Name: waypoints
      Queue Size: 6
      Shaft Length: 0.33000001311302185
      Shaft Radius: 0.019999999552965164
      Shape: Axes
      Topic: /move_base_node/DWBLocalPlanner/PathProgress/reached_intermediate_goals
      Unreliable: false
      Value: false
    - Alpha: 1
      Axes Length: 0.30000001192092896
      Axes Radius: 0.019999999552965164
      Class: rviz/Pose
      Color: 114; 159; 207
      Enabled: true
      Head Length: 0.30000001192092896
      Head Radius: 0.10000000149011612
      Name: Pose_closet
      Queue Size: 10
      Shaft Length: 1
      Shaft Radius: 0.05000000074505806
      Shape: Axes
      Topic: /move_base_node/DWBLocalPlanner/PathProgress/closet_robot_goal
      Unreliable: false
      Value: true
    - Alpha: 1
      Axes Length: 0.30000001192092896
      Axes Radius: 0.019999999552965164
      Class: rviz/Pose
      Color: 46; 52; 54
      Enabled: true
      Head Length: 0.10000000149011612
      Head Radius: 0.10000000149011612
      Name: Pose
      Queue Size: 10
      Shaft Length: 1
      Shaft Radius: 0.05000000074505806
      Shape: Axes
      Topic: /move_base_simple/goal
      Unreliable: true
      Value: true
    - Alpha: 0.699999988079071
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: true
      Name: Map
      Topic: /map
      Unreliable: false
      Use Timestamp: false
      Value: true
    - Alpha: 0.699999988079071
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: false
      Name: Directional zones
      Topic: /direction_zones/map
      Unreliable: false
      Use Timestamp: false
      Value: false
    - Alpha: 0.699999988079071
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: false
      Name: Forbidden zones
      Topic: /virtual_walls/map
      Unreliable: false
      Use Timestamp: false
      Value: false
    - Alpha: 0.699999988079071
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: false
      Name: Critical zones
      Topic: /critical_zones/map
      Unreliable: false
      Use Timestamp: false
      Value: false
    - Alpha: 0.699999988079071
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: false
      Name: Preferred zones
      Topic: /preferred_zones/map
      Unreliable: false
      Use Timestamp: false
      Value: false
    - Alpha: 0.699999988079071
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: false
      Name: Unpreferred zones
      Topic: /unpreferred_zones/map
      Unreliable: false
      Use Timestamp: false
      Value: false
  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: false
      Topic: clicked_point
  Value: true
  Views:
    Current:
      Angle: -3.145003080368042
      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: -52.603572845458984
      Target Frame: <Fixed Frame>
      X: 8.760619163513184
      Y: 10.58740234375
    Saved:
      - Angle: -0.004999996162950993
        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: 23.103717803955078
        Target Frame: <Fixed Frame>
        X: 17.860042572021484
        Y: 15.485589981079102
      - Angle: -0.004999996162950993
        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: 23.103717803955078
        Target Frame: <Fixed Frame>
        X: 17.860042572021484
        Y: 15.485589981079102
      - Angle: -0.004999996162950993
        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: 23.103717803955078
        Target Frame: <Fixed Frame>
        X: 17.860042572021484
        Y: 15.485589981079102
      - Angle: -0.004999996162950993
        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: 23.103717803955078
        Target Frame: <Fixed Frame>
        X: 17.860042572021484
        Y: 15.485589981079102
      - Angle: -0.004999995231628418
        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: 52.42099380493164
        Target Frame: <Fixed Frame>
        X: 0.5443607568740845
        Y: -0.26071029901504517
      - Angle: -1.5799980163574219
        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: 131.970703125
        Target Frame: <Fixed Frame>
        X: -1.8128122091293335
        Y: -5.972503662109375
Window Geometry:
  Displays:
    collapsed: false
  Height: 1016
  Hide Left Dock: false
  Hide Right Dock: false
  QMainWindow State: 000000ff00000000fd0000000400000000000001560000039efc0200000004fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afc0000003d0000039e0000000000fffffffaffffffff0100000002fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730000000000ffffffff0000009d00fffffffb000000100044006900730070006c0061007900730300000431000000830000043800000311000000010000010f00000374fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000374000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000041800fffffffb0000000800540069006d00650100000000000004500000000000000000000004350000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 1077
  X: 0
  Y: 27
