Panels:
- Class: rviz/Displays
  Name: Displays
- Class: rviz/Tool Properties
  Name: Tool Properties
Visualization Manager:
  Displays:
  - Class: rviz/Map
    Enabled: true
    Name: Map
    Topic: /map
  - Class: rviz/Grid
    Enabled: true
    Name: Grid
  - Class: rviz/TF
    Enabled: false
    Name: TF
  - Class: rviz/RobotModel
    Enabled: true
    Name: RobotModel
    Robot Description: robot_description
  - Class: rviz/Image
    Enabled: false
    Name: Image
    Topic: /camera/rgb/image_raw
  - Alpha: 1
    Class: rviz/LaserScan
    Color: 255; 0; 0
    Color Transformer: FlatColor
    Enabled: true
    Name: LaserScan
    Size (m): 0.03
    Style: Spheres
    Topic: /scan
  Global Options:
    Fixed Frame: map
  Tools:
  - Class: rviz/Interact
  - Class: rviz/MoveCamera
  - Class: rviz/Select
  - Class: rviz/FocusCamera
  - Class: rviz/Measure
  - Class: rviz/PublishPoint
  - Class: rviz/SetInitialPose
    Topic: /initialpose
  - Class: rviz/SetGoal
    Topic: /move_base_simple/goal