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: 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: 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: 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: 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: 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: 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: 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: 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