Panels:
  - Class: rviz_common/Displays
    Help Height: 70
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /TF1/Frames1
        - /TF1/Tree1
        - /PointCloud21/Topic1
        - /LaserScan1/Topic1
        - /Map2
        - /Map3
      Splitter Ratio: 0.6176470518112183
    Tree Height: 371
  - Class: rviz_common/Selection
    Name: Selection
  - Class: rviz_common/Tool Properties
    Expanded:
      - /2D Goal Pose1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.5886790156364441
  - Class: rviz_common/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
Visualization Manager:
  Class: ""
  Displays:
    - Class: rviz_default_plugins/Axes
      Enabled: true
      Length: 1
      Name: Axes
      Radius: 0.10000000149011612
      Reference Frame: <Fixed Frame>
      Value: true
    - Class: rviz_default_plugins/TF
      Enabled: true
      Frame Timeout: 15
      Frames:
        All Enabled: false
        base_link:
          Value: true
        lidar:
          Value: false
        map:
          Value: false
        odom:
          Value: true
      Marker Scale: 4
      Name: TF
      Show Arrows: false
      Show Axes: true
      Show Names: true
      Tree:
        map:
          odom:
            base_link:
              lidar:
                {}
      Update Interval: 0
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 4.898717403411865
        Min Value: -0.32881367206573486
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz_default_plugins/PointCloud2
      Color: 255; 255; 255
      Color Transformer: AxisColor
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 4096
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: PointCloud2
      Position Transformer: XYZ
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.014999999664723873
      Style: Flat Squares
      Topic:
        Depth: 5
        Durability Policy: Volatile
        Filter size: 10
        History Policy: Keep Last
        Reliability Policy: Best Effort
        Value: /pc
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Alpha: 0.699999988079071
      Class: rviz_default_plugins/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: true
      Name: Map
      Topic:
        Depth: 5
        Durability Policy: Volatile
        Filter size: 10
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /map
      Update Topic:
        Depth: 5
        Durability Policy: Volatile
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /map_updates
      Use Timestamp: false
      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_default_plugins/LaserScan
      Color: 239; 41; 41
      Color Transformer: FlatColor
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 4096
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: LaserScan
      Position Transformer: XYZ
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.10000000149011612
      Style: Flat Squares
      Topic:
        Depth: 5
        Durability Policy: Volatile
        Filter size: 10
        History Policy: Keep Last
        Reliability Policy: Best Effort
        Value: /scan
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Alpha: 0.699999988079071
      Class: rviz_default_plugins/Map
      Color Scheme: costmap
      Draw Behind: false
      Enabled: true
      Name: Map
      Topic:
        Depth: 5
        Durability Policy: Volatile
        Filter size: 10
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /local_costmap/costmap
      Update Topic:
        Depth: 5
        Durability Policy: Volatile
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /local_costmap/costmap_updates
      Use Timestamp: false
      Value: true
    - Alpha: 0.699999988079071
      Class: rviz_default_plugins/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: true
      Name: Map
      Topic:
        Depth: 5
        Durability Policy: Volatile
        Filter size: 10
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /global_costmap/costmap
      Update Topic:
        Depth: 5
        Durability Policy: Volatile
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /global_costmap/costmap_updates
      Use Timestamp: false
      Value: true
    - Alpha: 1
      Buffer Length: 1
      Class: rviz_default_plugins/Path
      Color: 25; 255; 0
      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
      Radius: 0.029999999329447746
      Shaft Diameter: 0.10000000149011612
      Shaft Length: 0.10000000149011612
      Topic:
        Depth: 5
        Durability Policy: Volatile
        Filter size: 10
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /plan
      Value: true
    - Alpha: 1
      Class: rviz_default_plugins/Polygon
      Color: 25; 255; 0
      Enabled: true
      Name: Polygon
      Topic:
        Depth: 5
        Durability Policy: Volatile
        Filter size: 10
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /local_costmap/published_footprint
      Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Fixed Frame: map
    Frame Rate: 30
  Name: root
  Tools:
    - Class: rviz_default_plugins/Interact
      Hide Inactive Objects: true
    - Class: rviz_default_plugins/MoveCamera
    - Class: rviz_default_plugins/Select
    - Class: rviz_default_plugins/FocusCamera
    - Class: rviz_default_plugins/Measure
      Line color: 128; 128; 0
    - Class: rviz_default_plugins/SetInitialPose
      Covariance x: 0.25
      Covariance y: 0.25
      Covariance yaw: 0.06853891909122467
      Topic:
        Depth: 5
        Durability Policy: Volatile
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /initialpose
    - Class: rviz_default_plugins/SetGoal
      Topic:
        Depth: 5
        Durability Policy: Volatile
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /goal_pose
    - Class: rviz_default_plugins/PublishPoint
      Single click: true
      Topic:
        Depth: 5
        Durability Policy: Volatile
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /clicked_point
  Transformation:
    Current:
      Class: rviz_default_plugins/TF
  Value: true
  Views:
    Current:
      Angle: 0
      Class: rviz_default_plugins/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: 38.749271392822266
      Target Frame: base_link
      Value: TopDownOrtho (rviz_default_plugins)
      X: 1.3347817659378052
      Y: 1.5879907608032227
    Saved: ~
Window Geometry:
  Displays:
    collapsed: true
  Height: 762
  Hide Left Dock: true
  Hide Right Dock: true
  QMainWindow State: 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
  Selection:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 949
  X: 2651
  Y: 27
