diff --git a/doc/install.sh b/doc/install.sh
index 5ae1091..5f2568e 100755
--- a/doc/install.sh
+++ b/doc/install.sh
@@ -3,8 +3,10 @@ echo 'Spark driver is installing'
 echo 'Setting udev rules'
 BASEPATH=$(cd `dirname $0`; pwd)
 sudo cp $BASEPATH/rules/3ilidar-usb-serial.rules /etc/udev/rules.d/
+sudo cp $BASEPATH/rules/uarm-usb-serial.rules /etc/udev/rules.d/
 sudo cp $BASEPATH/rules/spark-usb-serial.rules /etc/udev/rules.d/
 sudo cp $BASEPATH/rules/orbbec-usb.rules /etc/udev/rules.d/556-orbbec-usb.rules
+sudo $BASEPATH/rules/eai_gx.sh
 sudo udevadm trigger
 
 echo 'Spark driver is installed'
diff --git a/doc/install_3iroboticslidar2.sh b/doc/install_3iroboticslidar2.sh
new file mode 100755
index 0000000..6b8242c
--- /dev/null
+++ b/doc/install_3iroboticslidar2.sh
@@ -0,0 +1,5 @@
+echo '安装杉川雷达'
+sudo cp ~/spark_noetic/doc/lidar_3iroboticslidar2.txt /opt/lidar.txt
+echo '安装完成'
+
+
diff --git a/doc/install_eai_g2.sh b/doc/install_eai_g2.sh
new file mode 100755
index 0000000..8fab16f
--- /dev/null
+++ b/doc/install_eai_g2.sh
@@ -0,0 +1,9 @@
+echo '安装EAI G2雷达'
+BASEPATH=$(cd `dirname $0`; pwd)
+sudo cp ~/spark_noetic/doc/lidar_ydlidar_g2.txt /opt/lidar.txt
+sudo chmod 755 ~/spark_noetic/src/spark_driver/lidar/ydlidar_g2/startup/initenv.sh 
+sudo ~/spark_noetic/src/spark_driver/lidar/ydlidar_g2/startup/initenv.sh
+echo '安装完成'
+echo '请重新拔插雷达的USB接口'
+
+
diff --git a/doc/lidar_3iroboticslidar2.txt b/doc/lidar_3iroboticslidar2.txt
new file mode 100644
index 0000000..9f82215
--- /dev/null
+++ b/doc/lidar_3iroboticslidar2.txt
@@ -0,0 +1 @@
+3iroboticslidar2
diff --git a/doc/lidar_ydlidar_g2.txt b/doc/lidar_ydlidar_g2.txt
new file mode 100644
index 0000000..7a54061
--- /dev/null
+++ b/doc/lidar_ydlidar_g2.txt
@@ -0,0 +1 @@
+ydlidar_g2
diff --git a/doc/readme_dev b/doc/readme_dev
deleted file mode 100755
index 56ef786..0000000
--- a/doc/readme_dev
+++ /dev/null
@@ -1,18 +0,0 @@
-1.工作空间编译方式：
-a.catkin编译:
-进入spark工作空间，执行那个命令"catkin_make"
-b.eclipse编译
-进入spark工作空间，执行那个命令"./eclipse.sh"
-
-
-2.随行APP运行
-请参考 ～/spark/src/spark_app/spark_follower/doc的readme说明。
-
-
-3.键盘控制
-请参考 ～/spark/src/spark/spark_teleop节点
-
-
-4.深度摄像头
-a.使用方法请参考～/spark/src/spark_app/spark_follower节点
-b.深度摄像头的驱动OpenNI2在tool目录下
diff --git a/doc/readme_install b/doc/readme_install
deleted file mode 100755
index 13b2b9e..0000000
--- a/doc/readme_install
+++ /dev/null
@@ -1,21 +0,0 @@
-1.安装：
-a.准备环境
-操作系统：ubantu14.04
-ROS版本：indigo
-b.解压目录：
-spar.rar.gz到home目录下，解压后目录为~/spark/install:
-c.设置：
-终端执行以下命令：
-cd ～/spark/install/doc
-sudo ./install.sh
-
-
-2.随行APP运行
-cd ~spark/install
-./follow_run.sh
-
-
-3.键盘控制
-source ./setup.bash
-rosrun teleop teleop 200 2
-
diff --git a/doc/rules/eai_gx.sh b/doc/rules/eai_gx.sh
new file mode 100755
index 0000000..9b5c1d0
--- /dev/null
+++ b/doc/rules/eai_gx.sh
@@ -0,0 +1,11 @@
+#!/bin/bash
+echo  'KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", MODE:="0666", GROUP:="dialout",  SYMLINK+="ydlidar"' >/etc/udev/rules.d/ydlidar.rules
+
+echo  'KERNEL=="ttyACM*", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", MODE:="0666", GROUP:="dialout",  SYMLINK+="ydlidar"' >/etc/udev/rules.d/ydlidar-V2.rules
+
+echo  'KERNEL=="ttyUSB*", ATTRS{idVendor}=="067b", ATTRS{idProduct}=="2303", MODE:="0666", GROUP:="dialout",  SYMLINK+="ydlidar"' >/etc/udev/rules.d/ydlidar-2303.rules
+
+service udev reload
+sleep 2
+service udev restart
+
diff --git a/doc/rules/orbbec-usb.rules b/doc/rules/orbbec-usb.rules
index e5f0fc8..805c796 100755
--- a/doc/rules/orbbec-usb.rules
+++ b/doc/rules/orbbec-usb.rules
@@ -1,11 +1,63 @@
-SUBSYSTEM=="usb", ATTR{idProduct}=="0400", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
-SUBSYSTEM=="usb", ATTR{idProduct}=="0401", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
-SUBSYSTEM=="usb", ATTR{idProduct}=="0402", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
-SUBSYSTEM=="usb", ATTR{idProduct}=="0403", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
-SUBSYSTEM=="usb", ATTR{idProduct}=="0404", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
-SUBSYSTEM=="usb", ATTR{idProduct}=="0405", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
-SUBSYSTEM=="usb", ATTR{idProduct}=="0406", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
-SUBSYSTEM=="usb", ATTR{idProduct}=="0407", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
-SUBSYSTEM=="usb", ATTR{idProduct}=="0408", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
-SUBSYSTEM=="usb", ATTR{idProduct}=="0409", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
-SUBSYSTEM=="usb", ATTR{idProduct}=="040a", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0401", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra" 
+SUBSYSTEM=="usb", ATTR{idProduct}=="0402", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra_s"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0403", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra_pro"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0404", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra_mini"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0407", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra_mini_s"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0501", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0502", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0504", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0505", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0508", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0509", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="050a", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="050b", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="050c", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="050d", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="050e", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="050f", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0510", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0511", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0512", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0513", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0514", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0515", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0516", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0517", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0518", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0519", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="051a", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="051b", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="051c", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="051d", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="051e", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="051f", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0520", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0604", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0605", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="super"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0606", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="luna"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0607", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="ado"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0608", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra d-u"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0609", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="p2"
+SUBSYSTEM=="usb", ATTR{idProduct}=="060a", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="alien"
+SUBSYSTEM=="usb", ATTR{idProduct}=="060b", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="deeyea"
+SUBSYSTEM=="usb", ATTR{idProduct}=="060c", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="060d", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra pro plus"
+SUBSYSTEM=="usb", ATTR{idProduct}=="060e", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
+SUBSYSTEM=="usb", ATTR{idProduct}=="060f", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0610", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0611", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0612", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0613", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0614", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0615", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0616", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0617", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0618", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0619", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
+SUBSYSTEM=="usb", ATTR{idProduct}=="061a", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
+SUBSYSTEM=="usb", ATTR{idProduct}=="061b", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
+SUBSYSTEM=="usb", ATTR{idProduct}=="061c", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
+SUBSYSTEM=="usb", ATTR{idProduct}=="061d", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
+SUBSYSTEM=="usb", ATTR{idProduct}=="061e", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
+SUBSYSTEM=="usb", ATTR{idProduct}=="061f", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0620", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
diff --git a/src/spark_app/spark_slam/rviz/spark_gmapping.rviz b/src/spark_app/spark_slam/rviz/spark_gmapping.rviz
index ab1be70..9e8978c 100755
--- a/src/spark_app/spark_slam/rviz/spark_gmapping.rviz
+++ b/src/spark_app/spark_slam/rviz/spark_gmapping.rviz
@@ -1,12 +1,12 @@
 Panels:
   - Class: rviz/Displays
-    Help Height: 75
+    Help Height: 70
     Name: Displays
     Property Tree Widget:
       Expanded:
         - /TF1/Frames1
-      Splitter Ratio: 0.594406009
-    Tree Height: 75
+      Splitter Ratio: 0.594406008720398
+    Tree Height: 70
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -15,17 +15,21 @@ Panels:
       - /2D Nav Goal1
       - /Publish Point1
     Name: Tool Properties
-    Splitter Ratio: 0.588679016
+    Splitter Ratio: 0.5886790156364441
   - Class: rviz/Views
     Expanded:
       - /Current View1
     Name: Views
     Splitter Ratio: 0.5
   - Class: rviz/Time
-    Experimental: false
+    Experimental: true
     Name: Time
     SyncMode: 0
-    SyncSource: LaserScan
+    SyncSource: Image
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
 Visualization Manager:
   Class: ""
   Displays:
@@ -35,7 +39,7 @@ Visualization Manager:
       Color: 160; 160; 164
       Enabled: true
       Line Style:
-        Line Width: 0.0299999993
+        Line Width: 0.029999999329447746
         Value: Lines
       Name: Grid
       Normal Cell Count: 0
@@ -52,6 +56,8 @@ Visualization Manager:
       Frame Timeout: 15
       Frames:
         All Enabled: false
+        IMU_link:
+          Value: true
         base_footprint:
           Value: false
         base_gyro_link:
@@ -110,6 +116,7 @@ Visualization Manager:
           Value: false
         spark_stack:
           Value: true
+      Marker Alpha: 1
       Marker Scale: 1
       Name: TF
       Show Arrows: true
@@ -120,6 +127,8 @@ Visualization Manager:
           odom:
             base_footprint:
               base_link:
+                IMU_link:
+                  {}
                 base_gyro_link:
                   {}
                 camera_link:
@@ -184,15 +193,13 @@ Visualization Manager:
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 11799
       Min Color: 0; 0; 0
-      Min Intensity: 0
       Name: LaserScan
       Position Transformer: XYZ
       Queue Size: 10
       Selectable: true
       Size (Pixels): 3
-      Size (m): 0.0299999993
+      Size (m): 0.029999999329447746
       Style: Flat Squares
       Topic: /scan
       Unreliable: false
@@ -211,7 +218,7 @@ Visualization Manager:
       Transport Hint: compressed
       Unreliable: false
       Value: true
-    - Alpha: 0.699999988
+    - Alpha: 0.699999988079071
       Class: rviz/Map
       Color Scheme: map
       Draw Behind: false
@@ -230,6 +237,10 @@ Visualization Manager:
         Expand Joint Details: false
         Expand Link Details: false
         Expand Tree: false
+        IMU_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
         Link Tree Style: Links in Alphabetic Order
         base_footprint:
           Alpha: 1
@@ -353,8 +364,8 @@ Visualization Manager:
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
-        Max Value: 2.40568519
-        Min Value: -0.527172565
+        Max Value: 2.065582752227783
+        Min Value: -0.16169333457946777
         Value: true
       Axis: Z
       Channel Name: intensity
@@ -365,15 +376,13 @@ Visualization Manager:
       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
       Queue Size: 10
       Selectable: true
       Size (Pixels): 3
-      Size (m): 0.00999999978
+      Size (m): 0.009999999776482582
       Style: Flat Squares
       Topic: /camera/depth/points
       Unreliable: false
@@ -395,7 +404,10 @@ Visualization Manager:
     - 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
@@ -405,35 +417,35 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/ThirdPersonFollower
-      Distance: 11.2426996
+      Distance: 11.24269962310791
       Enable Stereo Rendering:
-        Stereo Eye Separation: 0.0599999987
+        Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
+      Field of View: 0.7853981852531433
       Focal Point:
-        X: 9.53673975e-07
-        Y: 4.76836988e-07
-        Z: -4.76836988e-07
+        X: 9.536739753457368e-07
+        Y: 4.768369876728684e-07
+        Z: -4.768369876728684e-07
       Focal Shape Fixed Size: true
-      Focal Shape Size: 0.0500000007
+      Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
-      Near Clip Distance: 0.00999999978
-      Pitch: 0.695399046
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.6953990459442139
       Target Frame: map
-      Value: ThirdPersonFollower (rviz)
-      Yaw: 2.05539989
+      Yaw: 2.0553998947143555
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 548
+  Height: 536
   Hide Left Dock: false
   Hide Right Dock: true
   Image:
     collapsed: false
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+  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000017afc020000000afb0000001200530065006c0065006300740069006f006e00000000280000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001b500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000000c9000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000010c000000ab0000001600fffffffb0000000a0049006d00610067006501000001c4000000b30000000000000000000000010000010f0000019afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000019a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003b80000003efc0100000002fb0000000800540069006d00650100000000000003b80000031b00fffffffb0000000800540069006d00650100000000000004500000000000000000000002480000017a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -442,6 +454,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: true
-  Width: 959
-  X: 65
-  Y: 31
+  Width: 952
+  X: 72
+  Y: 27