Panels:
  - Class: rviz/Displays
    Help Height: 138
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Path1
        - /TrackedPersons1
        - /Map5
      Splitter Ratio: 0.5
    Tree Height: 1520
  - 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
    Experimental: false
    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: 10
      Reference Frame: <Fixed Frame>
      Value: true
    - Alpha: 0.699999988079071
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: true
      Enabled: true
      Name: Map
      Topic: /map
      Unreliable: false
      Use Timestamp: false
      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
        base_footprint:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        base_scan:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        camera_depth_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_depth_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        camera_rgb_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_rgb_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        caster_back_left_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        caster_back_right_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        imu_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        wheel_left_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        wheel_right_link:
          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
    - 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: 255; 255; 255
      Color Transformer: Intensity
      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): 3
      Size (m): 0.10000000149011612
      Style: Squares
      Topic: /scan
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Alpha: 1
      Buffer Length: 1
      Class: rviz/Path
      Color: 32; 74; 135
      Enabled: true
      Head Diameter: 0.30000001192092896
      Head Length: 0.20000000298023224
      Length: 0.30000001192092896
      Line Style: Lines
      Line Width: 0.029999999329447746
      Name: Path
      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/GraphPlanner/plan
      Unreliable: false
      Value: true
    - Alpha: 0.8999999761581421
      Class: rviz/Map
      Color Scheme: costmap
      Draw Behind: true
      Enabled: false
      Name: Map
      Topic: /move_base/GraphPlanner/expand
      Unreliable: false
      Use Timestamp: false
      Value: false
    - Alpha: 0.20000000298023224
      Class: rviz/Map
      Color Scheme: costmap
      Draw Behind: false
      Enabled: false
      Name: Map
      Topic: /move_base/local_costmap/costmap
      Unreliable: false
      Use Timestamp: false
      Value: false
    - Alpha: 0.20000000298023224
      Class: rviz/Map
      Color Scheme: costmap
      Draw Behind: false
      Enabled: false
      Name: Map
      Topic: /move_base/global_costmap/costmap
      Unreliable: false
      Use Timestamp: false
      Value: false
    - Class: rviz/Marker
      Enabled: true
      Marker Topic: /move_base/SamplePlanner/tree
      Name: Marker
      Namespaces:
        {}
      Queue Size: 100
      Value: true
    - Alpha: 1
      Axes Length: 1
      Axes Radius: 0.10000000149011612
      Class: rviz/Pose
      Color: 255; 25; 0
      Enabled: true
      Head Length: 0.30000001192092896
      Head Radius: 0.10000000149011612
      Name: Pose
      Queue Size: 10
      Shaft Length: 0.5
      Shaft Radius: 0.05000000074505806
      Shape: Arrow
      Topic: /target_pose
      Unreliable: false
      Value: true
    - Alpha: 1
      Axes Length: 1
      Axes Radius: 0.10000000149011612
      Class: rviz/Pose
      Color: 0; 255; 0
      Enabled: true
      Head Length: 0.30000001192092896
      Head Radius: 0.10000000149011612
      Name: Pose
      Queue Size: 10
      Shaft Length: 0.5
      Shaft Radius: 0.05000000074505806
      Shape: Arrow
      Topic: /current_pose
      Unreliable: false
      Value: true
    - Alpha: 1
      Axes Length: 1
      Axes Radius: 0.10000000149011612
      Class: rviz/Pose
      Color: 32; 74; 135
      Enabled: true
      Head Length: 0.30000001192092896
      Head Radius: 0.10000000149011612
      Name: Pose
      Queue Size: 10
      Shaft Length: 1
      Shaft Radius: 0.05000000074505806
      Shape: Arrow
      Topic: /human_1/pose
      Unreliable: false
      Value: true
    - Alpha: 1
      Axes Length: 1
      Axes Radius: 0.10000000149011612
      Class: rviz/Pose
      Color: 32; 74; 135
      Enabled: true
      Head Length: 0.30000001192092896
      Head Radius: 0.10000000149011612
      Name: Pose
      Queue Size: 10
      Shaft Length: 1
      Shaft Radius: 0.05000000074505806
      Shape: Arrow
      Topic: /human_2/pose
      Unreliable: false
      Value: true
    - Alpha: 1
      Class: spencer_tracking_rviz_plugin/TrackedPersons
      Color: 130; 130; 130
      Color map offset: 0
      Color transform: Rainbow
      Delete after no. cycles: 100
      Enabled: true
      Excluded person IDs: ""
      Font color: 255; 255; 255
      Font color style: Same color
      Font scale: 2
      History as line:
        Line width: 0.05000000074505806
        Value: true
      History size: 100
      Included person IDs: ""
      Min. history point distance: 0.4000000059604645
      Missed alpha: 0.5
      Name: TrackedPersons
      Occlusion alpha: 0.30000001192092896
      Queue Size: 10
      Render covariances:
        Line width: 0.10000000149011612
        Value: true
      Render detection IDs: false
      Render history: true
      Render person visual: true
      Render track IDs: true
      Render track state: false
      Render velocities: true
      Show DELETED tracks: false
      Show MATCHED tracks: true
      Show MISSED tracks: true
      Show OCCLUDED tracks: true
      Style:
        Line width: 0.05000000074505806
        Scaling factor: 1
        Value: Person meshes
      Topic: ped_visualization
      Unreliable: false
      Value: true
      Z offset:
        Use Z position from message: false
        Value: 0
    - Alpha: 0.30000001192092896
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: true
      Enabled: true
      Name: Map
      Topic: /move_base/global_costmap/voronoi_layer/voronoi_grid
      Unreliable: false
      Use Timestamp: 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/Interact
      Hide Inactive Objects: true
    - Class: rviz/MoveCamera
    - Class: rviz/Select
    - Class: rviz/FocusCamera
    - Class: rviz/Measure
    - 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/PublishPoint
      Single click: true
      Topic: /clicked_point
  Value: true
  Views:
    Current:
      Class: rviz/Orbit
      Distance: 31.205366134643555
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Field of View: 0.7853981852531433
      Focal Point:
        X: -0.006348671857267618
        Y: 0.48202550411224365
        Z: -4.073554039001465
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Pitch: 1.5697963237762451
      Target Frame: <Fixed Frame>
      Yaw: 1.5549954175949097
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 2032
  Hide Left Dock: false
  Hide Right Dock: false
  QMainWindow State: 000000ff00000000fd000000040000000000000299000006e8fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000b0fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006e000006e80000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000015f000006e8fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000006e000006e80000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000e7000000060fc0100000002fb0000000800540069006d0065010000000000000e700000057100fffffffb0000000800540069006d0065010000000000000450000000000000000000000a60000006e800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 3696
  X: 144
  Y: 54