Panels: - Class: rviz/Displays Help Height: 78 Name: Displays Property Tree Widget: Expanded: - /Global Options1 - /Odometry1/Shape1 Splitter Ratio: 0.5 Tree Height: 747 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties Expanded: - /2D Pose Estimate1 - /2D Nav Goal1 - /Publish Point1 Name: Tool Properties Splitter Ratio: 0.588679016 - Class: rviz/Views Expanded: - /Current View1 Name: Views Splitter Ratio: 0.5 - Class: rviz/Time Experimental: false Name: Time SyncMode: 0 SyncSource: LaserScan - Class: rviz/Tool Properties Expanded: - /Publish Point1 Name: Tool Properties Splitter Ratio: 0.5 - Class: rviz/Tool Properties Expanded: ~ Name: Tool Properties Splitter Ratio: 0.5 Visualization Manager: Class: "" Displays: - Alpha: 0.5 Cell Size: 1 Class: rviz/Grid Color: 160; 160; 164 Enabled: true Line Style: Line Width: 0.0299999993 Value: Lines Name: Grid Normal Cell Count: 0 Offset: X: 0 Y: 0 Z: 0 Plane: XY Plane Cell Count: 10 Reference Frame: Value: true - Alpha: 0.699999988 Class: rviz/Map Color Scheme: map Draw Behind: false Enabled: true Name: Map Topic: /map Unreliable: false Use Timestamp: false Value: true - Angle Tolerance: 0.100000001 Class: rviz/Odometry Covariance: Orientation: Alpha: 0.5 Color: 255; 255; 127 Color Style: Unique Frame: Local Offset: 1 Scale: 1 Value: true Position: Alpha: 0.300000012 Color: 204; 51; 204 Scale: 1 Value: true Value: true Enabled: false Keep: 3 Name: Odometry Position Tolerance: 0.100000001 Shape: Alpha: 1 Axes Length: 1 Axes Radius: 0.100000001 Color: 85; 0; 255 Head Length: 0.300000012 Head Radius: 0.100000001 Shaft Length: 1 Shaft Radius: 0.100000001 Value: Arrow Topic: /boxer_velocity_controller/odom Unreliable: false Value: false - 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: 6640 Min Color: 0; 0; 0 Min Intensity: 104 Name: LaserScan Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.100000001 Style: Flat Squares Topic: /front/scan Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true - Alpha: 1 Axes Length: 1 Axes Radius: 0.100000001 Class: rviz/PoseWithCovariance Color: 255; 25; 0 Covariance: Orientation: Alpha: 0.5 Color: 255; 255; 127 Color Style: Unique Frame: Local Offset: 1 Scale: 1 Value: true Position: Alpha: 0.300000012 Color: 204; 51; 204 Scale: 1 Value: true Value: true Enabled: true Head Length: 0.100000001 Head Radius: 0.0500000007 Name: PoseWithCovariance Shaft Length: 0.5 Shaft Radius: 0.0500000007 Shape: Arrow Topic: /amcl_pose Unreliable: false Value: true - Alpha: 1 Buffer Length: 1 Class: rviz/Path Color: 25; 255; 0 Enabled: true Head Diameter: 0.300000012 Head Length: 0.200000003 Length: 0.300000012 Line Style: Lines Line Width: 0.0299999993 Name: Path Offset: X: 0 Y: 0 Z: 0 Pose Color: 255; 85; 255 Pose Style: None Radius: 0.0299999993 Shaft Diameter: 0.100000001 Shaft Length: 0.100000001 Topic: /move_base/TrajectoryPlannerROS/global_plan Unreliable: false Value: true - Alpha: 0.699999988 Class: rviz/Map Color Scheme: costmap Draw Behind: false Enabled: true Name: Map Topic: /move_base/local_costmap/costmap Unreliable: false 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/PointCloud Color: 255; 255; 255 Color Transformer: Intensity 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: PointCloud Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.100000001 Style: Flat Squares Topic: /obstacle_pc Unreliable: false Use Fixed Frame: true Use rainbow: true 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: 85; 0; 255 Color Transformer: FlatColor Decay Time: 0 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 999999 Min Color: 0; 0; 0 Min Intensity: 0 Name: LaserScan Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.100000001 Style: Flat Squares Topic: /scan Unreliable: false Use Fixed Frame: true Use rainbow: true 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 Topic: /initialpose - Class: rviz/SetGoal Topic: /move_base_simple/goal - Class: rviz/PublishPoint Single click: true Topic: /clicked_point Value: true Views: Current: Angle: 0 Class: rviz/TopDownOrtho Enable Stereo Rendering: Stereo Eye Separation: 0.0599999987 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Invert Z Axis: false Name: Current View Near Clip Distance: 0.00999999978 Scale: 19.5390034 Target Frame: Value: TopDownOrtho (rviz) X: 0 Y: 0 Saved: ~ Window Geometry: Displays: collapsed: false Height: 1028 Hide Left Dock: false Hide Right Dock: false QMainWindow State: 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 Selection: collapsed: false Time: collapsed: false Tool Properties: collapsed: false Views: collapsed: false Width: 928 X: 992 Y: 24