rviz.rviz

Panels:
  - Class: rviz_common/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
        - /TF1
        - /Image1
        - /Image1/Topic1
        - /LaserScan1
        - /LaserScan1/Topic1
      Splitter Ratio: 0.5
    Tree Height: 1085
  - 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
  - Class: rviz_common/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: LaserScan
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz_default_plugins/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_default_plugins/TF
      Enabled: true
      Frame Timeout: 15
      Frames:
        All Enabled: false
        base_footprint:
          Value: true
        base_link:
          Value: true
        camera_link:
          Value: true
        camera_optic:
          Value: true
        caster_base_link:
          Value: true
        caster_rotation_link:
          Value: true
        caster_wheel_link:
          Value: true
        left_wheel:
          Value: true
        odom:
          Value: true
        right_motor:
          Value: true
        right_wheel:
          Value: true
        rplidar_laser_link:
          Value: true
        second_base_link:
          Value: true
      Marker Scale: 0.20000000298023224
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: true
      Tree:
        odom:
          base_link:
            base_footprint:
              {}
            camera_link:
              camera_optic:
                {}
            caster_base_link:
              {}
            caster_rotation_link:
              caster_wheel_link:
                {}
            left_wheel:
              {}
            right_motor:
              {}
            right_wheel:
              {}
            second_base_link:
              rplidar_laser_link:
                {}
      Update Interval: 0
      Value: true
    - Class: rviz_default_plugins/Image
      Enabled: true
      Max Value: 1
      Median window: 5
      Min Value: 0
      Name: Image
      Normalize Range: true
      Topic:
        Depth: 5
        Durability Policy: Volatile
        History Policy: Keep Last
        Reliability Policy: Best Effort
        Value: /camera_image_color
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 0.13348086178302765
        Min Value: 0.12392950803041458
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz_default_plugins/LaserScan
      Color: 255; 0; 0
      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): 0.029999999329447746
      Style: Spheres
      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
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Fixed Frame: odom
    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:
      Class: rviz_default_plugins/Orbit
      Distance: 8.237565040588379
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 0
        Y: 0
        Z: 0
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Pitch: 0.6353981494903564
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 4.33542537689209
    Saved: ~
Window Geometry:
  Displays:
    collapsed: true
  Height: 1376
  Hide Left Dock: true
  Hide Right Dock: true
  Image:
    collapsed: false
  QMainWindow State: 000000ff00000000fd000000040000000000000156000004c6fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003b000004c6000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d006500720061000000042b000000d60000000000000000fb0000000a0049006d00610067006501000003f30000010e0000000000000000000000010000010f000004c6fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000004c6000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b2000000000000000000000002000004df000000a9fc0100000002fb0000000a0049006d00610067006503000007b60000037b000001ec0000018dfb0000000a00560069006500770073030000004e00000080000002e10000019700000003000009be0000003efc0100000002fb0000000800540069006d00650100000000000009be0000025300fffffffb0000000800540069006d00650100000000000004500000000000000000000009be000004c600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 2494
  X: 66
  Y: 27