Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
        - /Grid1
        - /Axes1
        - /LaserScan1
        - /RobotModel1
        - /TF1
      Splitter Ratio: 0.6029411554336548
    Tree Height: 787
  - 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
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
    - Class: rviz/Axes
      Enabled: true
      Length: 0.5
      Name: Axes
      Radius: 0.009999999776482582
      Reference Frame: <Fixed Frame>
      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: 255; 0; 0
      Color Transformer: FlatColor
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 5932
      Min Color: 0; 0; 0
      Min Intensity: 106
      Name: LaserScan
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.009999999776482582
      Style: Flat Squares
      Topic: /scan
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      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
      Name: RobotModel
        Robot Description: robot_description
        TF Prefix: ""
        Update Interval: 0
        Value: true
        Visual Enabled: true
          - Class: rviz/TF
            Enabled: true
            Frame Timeout: 15
            Frames:
              All Enabled: true
              base_footprint:
                Value: true
              base_link:
                Value: true
              base_scan:
                Value: true
              caster_back_link:
                Value: true
              imu_link:
                Value: true
              odom:
                Value: true
              wheel_left_link:
                Value: true
              wheel_right_link:
                Value: true
            Marker Scale: 0.4000000059604645
            Name: TF
            Show Arrows: true
            Show Axes: true
            Show Names: true
            Tree:
              odom:
                base_footprint:
                  base_link:
                    base_scan:
                      {}
                    caster_back_link:
                      {}
                    imu_link:
                      {}
                    wheel_left_link:
                      {}
                    wheel_right_link:
                      {}
            Update Interval: 0
            Value: true
        Enabled: true
        Global Options:
          Background Color: 108; 108; 108
          Fixed Frame: base_footprint
          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
            Topic: /initialpose
          - Class: rviz/SetGoal
            Topic: /move_base_simple/goal
          - Class: rviz/PublishPoint
            Single click: true
            Topic: /clicked_point
        Value: true
        Views:
          Current:
            Class: rviz/XYOrbit
            Distance: 1.910049319267273
            Enable Stereo Rendering:
              Stereo Eye Separation: 0.05999999865889549
              Stereo Focal Distance: 1
              Swap Stereo Eyes: false
              Value: false
            Focal Point:
              X: -0.02010004222393036
              Y: -0.467065691947937
              Z: -4.76837158203125e-7
            Focal Shape Fixed Size: false
            Focal Shape Size: 0.05000000074505806
            Name: Current View
            Near Clip Distance: 0.009999999776482582
            Pitch: 0.7953976392745972
            Target Frame: <Fixed Frame>
            Value: XYOrbit (rviz)
            Yaw: 4.793606281280518
          Saved: ~
Window Geometry:
    Displays:
        collapsed: false
        Height: 1056
        Hide Left Dock: false
        Hide Right Dock: true
        QMainWindow State: 000000ff00000000fd0000000400000000000001560000039bfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000270000039b000000c600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000039bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000270000039b0000009e00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000024400fffffffb0000000800540069006d00650100000000000004500000000000000000000005e30000039b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
        Selection:
          collapsed: false
        Time:
          collapsed: false
        Tool Properties:
          collapsed: false
        Views:
          collapsed: true
        Width: 1855
        X: 65
        Y: 24