Panels:
  - Class: rviz/Displays
    Help Height: 70
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Grid1/Status1
        - /TF1/Frames1
        - /TF1/Tree1
        - /RobotModel1
        - /RobotModel1/Links1
        - /RobotModel1/Links1/base_scan1
        - /RobotModel1/Links1/base_scan1/Position1
        - /RobotModel1/Links1/base_scan1/Orientation1
      Splitter Ratio: 0.43917524814605713
    Tree Height: 528
  - 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: ""
  - Class: rviz/Displays
    Help Height: 0
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /TF1
        - /TF1/Tree1
      Splitter Ratio: 0.699999988079071
    Tree Height: 598
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: body
      Value: true
    - Class: rviz/TF
      Enabled: false
      Frame Timeout: 15
      Frames:
        All Enabled: true
      Marker Scale: 1
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: true
      Tree:
        {}
      Update Interval: 0
      Value: false
    - 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_scan:
          Alpha: 1
          Show Axes: true
          Show Trail: false
          Value: true
        body:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        bogie_left:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        bogie_right:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        camera_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        corner_lb:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        corner_lf:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        corner_rb:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        corner_rf:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        depthcamera_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        imu_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        imu_wheel_lb_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        imu_wheel_lf_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        imu_wheel_lm_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        imu_wheel_rb_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        imu_wheel_rf_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        imu_wheel_rm_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        pointcloud_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        rocker_left:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        rocker_right:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        wheel_lb:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        wheel_lf:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        wheel_lm:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        wheel_rb:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        wheel_rf:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        wheel_rm:
          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
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Default Light: true
    Fixed Frame: body
    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: 3.883798122406006
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: -0.5511826276779175
        Y: -1.529915690422058
        Z: -1.9753586053848267
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Pitch: 0.6297963261604309
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 1.4603983163833618
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 846
  Hide Left Dock: false
  Hide Right Dock: false
  QMainWindow State: 000000ff00000000fd0000000400000000000001e7000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fc0000003d000002b0000000e60100001cfa000000000100000002fb000000100044006900730070006c0061007900730100000000ffffffff0000015600fffffffb000000100044006900730070006c0061007900730100000000000001560000015600ffffff000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005b50000003efc0100000002fb0000000800540069006d00650100000000000005b5000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000002b3000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 1461
  X: 267
  Y: 225