Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /TF1/Frames1
        - /PointStamped1
      Splitter Ratio: 0.594406009
    Tree Height: 112
  - 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
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: 0.0299999993
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 100
      Reference Frame: map
      Value: true
    - Class: rviz/TF
      Enabled: true
      Frame Timeout: 15
      Frames:
        All Enabled: false
        Base:
          Value: true
        IMU_link:
          Value: true
        base_footprint:
          Value: false
        base_gyro_link:
          Value: false
        base_link:
          Value: true
        camera_aligned_depth_to_color_frame:
          Value: true
        camera_aligned_depth_to_infra1_frame:
          Value: true
        camera_bottom_screw_frame:
          Value: true
        camera_color_frame:
          Value: true
        camera_color_optical_frame:
          Value: true
        camera_depth_frame:
          Value: false
        camera_depth_optical_frame:
          Value: false
        camera_infra1_frame:
          Value: true
        camera_infra1_optical_frame:
          Value: true
        camera_left_ir_frame:
          Value: true
        camera_left_ir_optical_frame:
          Value: true
        camera_link:
          Value: true
        camera_right_ir_frame:
          Value: true
        camera_right_ir_optical_frame:
          Value: true
        cliff_back_left_link:
          Value: false
        cliff_back_right_link:
          Value: false
        cliff_front_left_link:
          Value: false
        cliff_front_right_link:
          Value: false
        cliff_left_link:
          Value: false
        cliff_right_link:
          Value: false
        ir_bumper_back_left_link:
          Value: false
        ir_bumper_back_right_link:
          Value: false
        ir_bumper_front_left_link:
          Value: false
        ir_bumper_front_link:
          Value: false
        ir_bumper_front_right_link:
          Value: false
        ir_bumper_left_link:
          Value: false
        ir_bumper_rear_link:
          Value: false
        ir_bumper_right_link:
          Value: false
        left_wheel_link:
          Value: false
        lidar_link:
          Value: true
        map:
          Value: true
        odom:
          Value: true
        right_wheel_link:
          Value: false
        room_base_link:
          Value: false
        spark_stack:
          Value: true
      Marker Scale: 1
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: true
      Tree:
        map:
          odom:
            Base:
              {}
            base_footprint:
              base_link:
                IMU_link:
                  {}
                base_gyro_link:
                  {}
                camera_bottom_screw_frame:
                  camera_link:
                    camera_aligned_depth_to_color_frame:
                      camera_color_optical_frame:
                        {}
                    camera_aligned_depth_to_infra1_frame:
                      camera_infra1_optical_frame:
                        {}
                    camera_color_frame:
                      {}
                    camera_depth_frame:
                      camera_depth_optical_frame:
                        {}
                      camera_left_ir_frame:
                        camera_left_ir_optical_frame:
                          {}
                      camera_right_ir_frame:
                        camera_right_ir_optical_frame:
                          {}
                    camera_infra1_frame:
                      {}
                cliff_back_left_link:
                  {}
                cliff_back_right_link:
                  {}
                cliff_front_left_link:
                  {}
                cliff_front_right_link:
                  {}
                cliff_left_link:
                  {}
                cliff_right_link:
                  {}
                ir_bumper_back_left_link:
                  {}
                ir_bumper_back_right_link:
                  {}
                ir_bumper_front_left_link:
                  {}
                ir_bumper_front_link:
                  {}
                ir_bumper_front_right_link:
                  {}
                ir_bumper_left_link:
                  {}
                ir_bumper_rear_link:
                  {}
                ir_bumper_right_link:
                  {}
                left_wheel_link:
                  {}
                lidar_link:
                  {}
                right_wheel_link:
                  {}
                room_base_link:
                  {}
                spark_stack:
                  {}
      Update Interval: 0
      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: 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
      Style: Flat Squares
      Topic: /scan
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Class: rviz/Image
      Enabled: true
      Image Topic: /camera/color/image_raw
      Max Value: 1
      Median window: 5
      Min Value: 0
      Name: Image
      Normalize Range: true
      Queue Size: 2
      Transport Hint: compressed
      Unreliable: false
      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
    - 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
        IMU_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        Link Tree Style: Links in Alphabetic Order
        base_footprint:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        base_gyro_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_bottom_screw_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_color_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_color_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_depth_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_depth_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_left_ir_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_left_ir_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        camera_right_ir_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_right_ir_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        cliff_back_left_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        cliff_back_right_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        cliff_front_left_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        cliff_front_right_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        cliff_left_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        cliff_right_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        ir_bumper_back_left_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        ir_bumper_back_right_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        ir_bumper_front_left_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        ir_bumper_front_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        ir_bumper_front_right_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        ir_bumper_left_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        ir_bumper_rear_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        ir_bumper_right_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        left_wheel_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        lidar_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        right_wheel_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        room_base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        spark_stack:
          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
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 1.33737922
        Min Value: 0.179654211
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/PointCloud2
      Color: 255; 255; 255
      Color Transformer: AxisColor
      Decay Time: 0
      Enabled: false
      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
      Style: Flat Squares
      Topic: /camera/depth/points
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: false
    - Alpha: 1
      Class: rviz/PointStamped
      Color: 204; 41; 204
      Enabled: true
      History Length: 1
      Name: PointStamped
      Radius: 0.200000003
      Topic: /clicked_point
      Unreliable: false
      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:
      Class: rviz/ThirdPersonFollower
      Distance: 11.2426996
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.0599999987
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 9.53673975e-07
        Y: 4.76836988e-07
        Z: -4.76836988e-07
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.0500000007
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.00999999978
      Pitch: 0.480399042
      Target Frame: map
      Value: ThirdPersonFollower (rviz)
      Yaw: 1.88540006
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 576
  Hide Left Dock: false
  Hide Right Dock: false
  Image:
    collapsed: false
  QMainWindow State: 000000ff00000000fd00000004000000000000016a000001b6fc020000000afb0000001200530065006c0065006300740069006f006e00000000280000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001b500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000000ff000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000012d000000b10000001600fffffffb0000000a0049006d00610067006501000001c4000000b30000000000000000000000010000010f00000242fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000242000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003bf0000003efc0100000002fb0000000800540069006d00650100000000000003bf0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000024f000001b600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 959
  X: 65
  Y: 24