Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
        - /RobotModel1
        - /TF1
        - /InteractiveMarkers1
        - /Marker1
        - /Marker2
        - /LaserScan1
        - /Path1
        - /Path2
        - /GridCells1
        - /PointCloud21
        - /InteractiveMarkers2
        - /InteractiveMarkers2/Status1
        - /PointCloud22
      Splitter Ratio: 0.587248
    Tree Height: 419
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
      - /Look At1
    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: PointCloud2
  - Class: rviz_plugin_tutorials/Teleop
    Name: Teleop
    Topic: /test
  - Class: jsk_rviz_plugin/PublishTopic
    Name: PublishTopic
    Topic: ""
  - Class: jsk_rviz_plugin/CancelAction
    Name: CancelAction
    Topic: ""
    topics:
      - /r_arm_controller/joint_trajectory_action
      - /l_arm_controller/joint_trajectory_action
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: <Fixed Frame>
      Value: true
    - Alpha: 0.7
      Class: rviz/Map
      Draw Behind: false
      Enabled: true
      Name: Map
      Topic: /eng2/7f
      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
        center_bottom_led_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        center_top_led_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        head:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        head_hokuyo_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        head_imu_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        hokuyo_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        imu_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        l_clav:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        l_farm:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        l_foot:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        l_hand:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        l_larm:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        l_lglut:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        l_lleg:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        l_scap:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        l_situational_awareness_camera_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        l_situational_awareness_camera_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        l_talus:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        l_uarm:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        l_uglut:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        l_uleg:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        left_camera_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        left_camera_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        left_f0_0:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        left_f0_1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        left_f0_1_accel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        left_f0_2:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        left_f0_2_accel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        left_f0_base:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        left_f0_fixed_accel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        left_f1_0:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        left_f1_1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        left_f1_1_accel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        left_f1_2:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        left_f1_2_accel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        left_f1_base:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        left_f1_fixed_accel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        left_f2_0:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        left_f2_1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        left_f2_1_accel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        left_f2_2:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        left_f2_2_accel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        left_f2_base:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        left_f2_fixed_accel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        left_f3_0:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        left_f3_1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        left_f3_1_accel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        left_f3_2:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        left_f3_2_accel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        left_f3_base:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        left_f3_fixed_accel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        left_led_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        left_palm:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        left_palm_left_camera_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        left_palm_left_camera_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        left_palm_right_camera_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        left_palm_right_camera_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        ltorso:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        mtorso:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pelvis:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        r_clav:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        r_farm:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        r_foot:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        r_hand:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        r_larm:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        r_lglut:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        r_lleg:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        r_scap:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        r_situational_awareness_camera_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        r_situational_awareness_camera_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        r_talus:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        r_uarm:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        r_uglut:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        r_uleg:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        right_camera_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        right_camera_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        right_f0_0:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        right_f0_1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        right_f0_1_accel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        right_f0_2:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        right_f0_2_accel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        right_f0_base:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        right_f0_fixed_accel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        right_f1_0:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        right_f1_1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        right_f1_1_accel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        right_f1_2:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        right_f1_2_accel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        right_f1_base:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        right_f1_fixed_accel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        right_f2_0:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        right_f2_1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        right_f2_1_accel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        right_f2_2:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        right_f2_2_accel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        right_f2_base:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        right_f2_fixed_accel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        right_f3_0:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        right_f3_1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        right_f3_1_accel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        right_f3_2:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        right_f3_2_accel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        right_f3_base:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        right_f3_fixed_accel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        right_led_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        right_palm:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        right_palm_left_camera_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        right_palm_left_camera_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        right_palm_right_camera_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        right_palm_right_camera_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        utorso:
          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: false
      Tree:
        {}
      Update Interval: 0
      Value: false
    - Class: rviz/InteractiveMarkers
      Enable Transparency: true
      Enabled: true
      Name: InteractiveMarkers
      Show Axes: false
      Show Descriptions: true
      Show Visual Aids: false
      Update Topic: /jsk_interactive_marker_manipulation/update
      Value: true
    - Class: rviz/Marker
      Enabled: true
      Marker Topic: /jsk_interactive_marker_manipulation/marker
      Name: Marker
      Namespaces:
        "": true
      Queue Size: 100
      Value: true
    - Class: rviz/Marker
      Enabled: true
      Marker Topic: /jsk_interactive_marker_manipulation/origin_marker
      Name: Marker
      Namespaces:
        "": true
      Queue Size: 100
      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; 255; 0
      Color Transformer: FlatColor
      Decay Time: 0
      Enabled: true
      Max Color: 255; 255; 0
      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): 0.05
      Style: Flat Squares
      Topic: /base_scan_throttled
      Use Fixed Frame: true
      Use rainbow: false
      Value: true
    - Alpha: 1
      Buffer Length: 1
      Class: rviz/Path
      Color: 25; 255; 0
      Enabled: true
      Name: Path
      Topic: /move_base_node/NavfnROS/plan
      Value: true
    - Alpha: 1
      Buffer Length: 1
      Class: rviz/Path
      Color: 25; 255; 0
      Enabled: true
      Name: Path
      Topic: /move_base_node/DWAPlannerROS/local_plan
      Value: true
    - Alpha: 1
      Class: rviz/GridCells
      Color: 25; 255; 0
      Enabled: true
      Name: GridCells
      Topic: /move_base_node/local_costmap/inflated_obstacles
      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/PointCloud2
      Color: 255; 255; 255
      Color Transformer: Intensity
      Decay Time: 0
      Enabled: true
      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): 0.1
      Style: Boxes
      Topic: /pcl_divider_nodelet/voxelgrid1/output
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Class: rviz/InteractiveMarkers
      Enable Transparency: true
      Enabled: true
      Name: InteractiveMarkers
      Show Axes: false
      Show Descriptions: true
      Show Visual Aids: false
      Update Topic: /jsk_ik_visualization/update
      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/PointCloud2
      Color: 255; 255; 255
      Color Transformer: Intensity
      Decay Time: 0
      Enabled: true
      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): 0.1
      Style: Boxes
      Topic: /pcl_divider_nodelet/voxelgrid3/output
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Fixed Frame: /map
  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: pr2_interactive_manipulation_frontend/LookAt
      Single click: true
      Topic: /rviz/look_here
  Value: true
  Views:
    Current:
      Class: rviz/Orbit
      Distance: 1.40707
      Focal Point:
        X: 0.324159
        Y: 1.06422
        Z: 1.75849
      Name: Current View
      Near Clip Distance: 0.01
      Pitch: 0.539798
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 1.45046
    Saved: ~
Window Geometry:
  CancelAction:
    collapsed: false
  Displays:
    collapsed: false
  Height: 726
  Hide Left Dock: false
  Hide Right Dock: true
  PublishTopic:
    collapsed: false
  QMainWindow State: 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
  Selection:
    collapsed: false
  Teleop:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 1025
  X: 58
  Y: 77
