Panels:
  - Class: rviz/Displays
    Help Height: 81
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /TF1/Tree1
        - /TF2/Frames1
      Splitter Ratio: 0.5
    Tree Height: 409
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
    Name: Tool Properties
    Splitter Ratio: 0.588679
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: ""
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.03
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 10
      Reference Frame: odom
      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
        base_footprint:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        camera_depth_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_depth_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        camera_rgb_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_rgb_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        caster_back_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        caster_front_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        cliff_sensor_front_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        cliff_sensor_left_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        cliff_sensor_right_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        gyro_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        plate_bottom_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        plate_middle_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        plate_top_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_bottom_0_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_bottom_1_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_bottom_2_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_bottom_3_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_bottom_4_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_bottom_5_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_kinect_0_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_kinect_1_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_middle_0_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_middle_1_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_middle_2_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_middle_3_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_top_0_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_top_1_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_top_2_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_top_3_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        wheel_left_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        wheel_right_link:
          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
    - Class: rviz/TF
      Enabled: false
      Frame Timeout: 15
      Frames:
        All Enabled: true
      Marker Scale: 1
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: true
      Tree:
        {}
      Update Interval: 0
      Value: false
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 0.2972
        Min Value: 0.2972
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/LaserScan
      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: LaserScan
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.01
      Style: Squares
      Topic: /scan
      Use Fixed Frame: true
      Use rainbow: true
      Value: false
    - Alpha: 1
      Auto Size:
        Auto Size Factor: 1
        Value: true
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 3.286
        Min Value: 0.683
        Value: true
      Axis: X
      Channel Name: intensity
      Class: rviz/DepthCloud
      Color: 255; 255; 255
      Color Image Topic: ""
      Color Transformer: AxisColor
      Color Transport Hint: raw
      Decay Time: 0
      Depth Map Topic: /camera/depth/image_raw
      Depth Map Transport Hint: raw
      Enabled: false
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 4096
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: DepthCloud
      Occlusion Compensation:
        Occlusion Time-Out: 30
        Value: false
      Position Transformer: XYZ
      Queue Size: 5
      Selectable: true
      Size (Pixels): 3
      Style: Points
      Topic Filter: true
      Use Fixed Frame: true
      Use rainbow: true
      Value: false
    - Alpha: 1
      Auto Size:
        Auto Size Factor: 1
        Value: true
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 10
        Min Value: -10
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/DepthCloud
      Color: 255; 255; 255
      Color Image Topic: /camera/rgb/image_color
      Color Transformer: RGB8
      Color Transport Hint: raw
      Decay Time: 0
      Depth Map Topic: /camera/depth_registered/image_raw
      Depth Map Transport Hint: raw
      Enabled: false
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 4096
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: Registered DepthCloud
      Occlusion Compensation:
        Occlusion Time-Out: 30
        Value: false
      Position Transformer: XYZ
      Queue Size: 5
      Selectable: true
      Size (Pixels): 3
      Style: Points
      Topic Filter: true
      Use Fixed Frame: true
      Use rainbow: true
      Value: false
    - Class: rviz/Image
      Enabled: false
      Image Topic: /camera/rgb/image_color
      Max Value: 1
      Median window: 5
      Min Value: 0
      Name: Image
      Normalize Range: true
      Queue Size: 2
      Transport Hint: raw
      Value: false
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 3.286
        Min Value: 0.681
        Value: true
      Axis: X
      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: PointCloud
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.01
      Style: Points
      Topic: /camera/depth/points
      Use Fixed Frame: true
      Use rainbow: true
      Value: false
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 5.632
        Min Value: 0.65
        Value: true
      Axis: X
      Channel Name: intensity
      Class: rviz/PointCloud2
      Color: 255; 255; 255
      Color Transformer: RGB8
      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: Registered PointCloud
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.01
      Style: Points
      Topic: /camera/depth_registered/points
      Use Fixed Frame: true
      Use rainbow: true
      Value: false
    - Class: rviz/InteractiveMarkers
      Enable Transparency: true
      Enabled: false
      Name: InteractiveMarkers
      Show Axes: false
      Show Descriptions: true
      Show Visual Aids: false
      Update Topic: /turtlebot_marker_server/update
      Value: false
    - Class: rviz/MarkerArray
      Enabled: true
      Marker Topic: /occupied_cells_vis_array
      Name: Octomap
      Namespaces:
        {}
      Queue Size: 100
      Value: true
    - Class: rviz/Marker
      Enabled: true
      Marker Topic: /controller_turtlebot/solution_path
      Name: Planning Solution
      Namespaces:
        {}
      Queue Size: 100
      Value: true
    - Class: rviz/TF
      Enabled: false
      Frame Timeout: 15
      Frames:
        All Enabled: false
      Marker Scale: 1
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: true
      Tree:
        {}
      Update Interval: 0
      Value: false
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Fixed Frame: odom
    Frame Rate: 30
  Name: root
  Tools:
    - Class: rviz/MoveCamera
    - Class: rviz/Interact
      Hide Inactive Objects: true
    - Class: rviz/Select
    - Class: rviz/SetInitialPose
      Topic: /initialpose
    - Class: rviz/SetGoal
      Topic: /move_base_simple/goal
  Value: true
  Views:
    Current:
      Class: rviz/Orbit
      Distance: 7.04007
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.06
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: -0.102786
        Y: -0.0889391
        Z: 0.112978
      Name: Current View
      Near Clip Distance: 0.01
      Pitch: 0.584798
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 1.2554
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 625
  Hide Left Dock: false
  Hide Right Dock: false
  Image:
    collapsed: false
  QMainWindow State: 000000ff00000000fd0000000400000000000001950000022bfc0200000006fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000022b000000dd00fffffffb0000000a0049006d006100670065000000028d000000c60000001600ffffff000000010000010b00000294fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003300000294000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003240000022b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 1215
  X: 58
  Y: 24
