Panels:
  - Class: rviz/Displays
    Help Height: 80
    Name: Displays
    Property Tree Widget:
      Expanded: ~
      Splitter Ratio: 0.442308
    Tree Height: 357
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    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: 100
      Reference Frame: <Fixed Frame>
      Value: true
    - Class: rviz/InteractiveMarkers
      Enable Transparency: true
      Enabled: false
      Name: InteractiveMarkers
      Show Axes: false
      Show Descriptions: true
      Show Visual Aids: false
      Update Topic: /footstep_marker/update
      Value: false
    - Class: jsk_rviz_plugin/OverlayMenu
      Enabled: true
      Name: OverlayMenu
      Topic: /overlay_menu
      Value: true
    - Alpha: 1
      Class: jsk_rviz_plugin/Footstep
      Enabled: true
      Name: Footstep
      Show Name: true
      Topic: /footstep_planner_straight/footstep
      Use Group Coloring: false
      Value: true
      Width: 0.15
      depth: 0.3
      height: 0.01
    - Alpha: 1
      Axes Length: 0.2
      Axes Radius: 0.02
      Class: rviz/Pose
      Color: 255; 25; 0
      Enabled: true
      Head Length: 0.3
      Head Radius: 0.1
      Name: Pose
      Shaft Length: 1
      Shaft Radius: 0.05
      Shape: Axes
      Topic: /footstep_marker/pose
      Value: true
    - Alpha: 1
      Axes Length: 0.2
      Axes Radius: 0.02
      Class: rviz/Pose
      Color: 255; 25; 0
      Enabled: true
      Head Length: 0.3
      Head Radius: 0.1
      Name: Pose
      Shaft Length: 1
      Shaft Radius: 0.05
      Shape: Axes
      Topic: /footstep_marker/pose_nonsnapped
      Value: true
    - Background Alpha: 0
      Background Color: 0; 0; 0
      Class: jsk_rviz_plugin/OverlayText
      Enabled: true
      Foreground Alpha: 0.8
      Foreground Color: 25; 255; 240
      Name: OverlayText
      Overtake Color Properties: true
      Overtake Position Properties: true
      Topic: /footstep_planner_straight/footstep_count_text
      Value: true
      font: DejaVu Sans Mono
      height: 128
      left: 0
      line width: 2
      text size: 34
      top: 0
      width: 1280
    - Background Alpha: 0
      Background Color: 0; 0; 0
      Class: jsk_rviz_plugin/OverlayText
      Enabled: true
      Foreground Alpha: 0.8
      Foreground Color: 25; 255; 240
      Name: OverlayText
      Overtake Color Properties: true
      Overtake Position Properties: true
      Topic: /footstep_planner_straight/footstep_time_text
      Value: true
      font: DejaVu Sans Mono
      height: 128
      left: 0
      line width: 2
      text size: 36
      top: 64
      width: 1280
    - Background Alpha: 0
      Background Color: 0; 0; 0
      Class: jsk_rviz_plugin/OverlayText
      Enabled: true
      Foreground Alpha: 1
      Foreground Color: 25; 255; 240
      Name: OverlayText
      Overtake Color Properties: true
      Overtake Position Properties: true
      Topic: /breakpoint_text
      Value: true
      font: DejaVu Sans Mono
      height: 128
      left: 10
      line width: 2
      text size: 36
      top: 10
      width: 1500
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Fixed Frame: odom
    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
    - Class: jsk_rviz_plugin/CloseAll
  Value: true
  Views:
    Current:
      Class: rviz/Orbit
      Distance: 7.74229
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.06
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 2.31393
        Y: -2.73561
        Z: -1.64904
      Name: Current View
      Near Clip Distance: 0.01
      Pitch: 0.704796
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 2.11541
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 789
  Hide Left Dock: false
  Hide Right Dock: true
  QMainWindow State: 000000ff00000000fd0000000400000000000001d800000272fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000000c00430061006d0065007200610000000041000002a90000000000000000fb000000100044006900730070006c006100790073000000004100000272000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000551fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000004100000551000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000a00000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004f80000003efc0100000002fb0000000800540069006d00650000000000000004f8000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000004f8000002b600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 1272
  X: 1266
  Y: 24
