Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /XtionRGB1/XtionRGB1
      Splitter Ratio: 0.4187380373477936
    Tree Height: 728
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.5886790156364441
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: BaseScan
  - Class: jsk_rviz_plugin/CancelAction
    Name: CancelAction
    Topic: ""
    topics:
      - /move_base
Preferences:
  PromptSaveOnExit: true
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: 0.029999999329447746
        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: 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_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        bellows_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        bellows_link2:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        elbow_flex_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        estop_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        forearm_roll_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        gripper_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        head_camera_depth_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        head_camera_depth_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        head_camera_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        head_camera_rgb_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        head_camera_rgb_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        head_pan_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        head_tilt_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        l_gripper_finger_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        l_wheel_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        laser_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        r_gripper_finger_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        r_wheel_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        shoulder_lift_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        shoulder_pan_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        torso_fixed_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        torso_lift_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        upperarm_roll_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        wrist_flex_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        wrist_roll_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: 0.699999988079071
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: true
      Name: Map
      Topic: /map
      Unreliable: false
      Use Timestamp: false
      Value: true
    - Alpha: 1
      Buffer Length: 1
      Class: rviz/Path
      Color: 255; 0; 127
      Enabled: true
      Head Diameter: 0.30000001192092896
      Head Length: 0.20000000298023224
      Length: 0.30000001192092896
      Line Style: Billboards
      Line Width: 0.30000001192092896
      Name: NavigationPath
      Offset:
        X: 0
        Y: 0
        Z: 0
      Pose Color: 255; 85; 255
      Pose Style: None
      Radius: 0.029999999329447746
      Shaft Diameter: 0.10000000149011612
      Shaft Length: 0.10000000149011612
      Topic: /move_base/navigation_plan_viz
      Unreliable: false
      Value: true
    - Alpha: 1
      Buffer Length: 1
      Class: rviz/Path
      Color: 255; 0; 0
      Enabled: true
      Head Diameter: 0.30000001192092896
      Head Length: 0.20000000298023224
      Length: 0.30000001192092896
      Line Style: Billboards
      Line Width: 0.10000000149011612
      Name: GlobalPath
      Offset:
        X: 0
        Y: 0
        Z: 0
      Pose Color: 255; 85; 255
      Pose Style: None
      Radius: 0.029999999329447746
      Shaft Diameter: 0.10000000149011612
      Shaft Length: 0.10000000149011612
      Topic: /move_base/global_plan_viz
      Unreliable: false
      Value: true
    - Alpha: 1
      Buffer Length: 1
      Class: rviz/Path
      Color: 25; 255; 0
      Enabled: true
      Head Diameter: 0.30000001192092896
      Head Length: 0.20000000298023224
      Length: 0.30000001192092896
      Line Style: Lines
      Line Width: 0.029999999329447746
      Name: LocalPath
      Offset:
        X: 0
        Y: 0
        Z: 0
      Pose Color: 255; 85; 255
      Pose Style: None
      Radius: 0.029999999329447746
      Shaft Diameter: 0.10000000149011612
      Shaft Length: 0.10000000149011612
      Topic: /move_base/local_plan_viz
      Unreliable: false
      Value: true
    - Alpha: 1
      Class: rviz/Polygon
      Color: 255; 0; 0
      Enabled: true
      Name: FootPrint
      Topic: /move_base/global_costmap/footprint
      Unreliable: false
      Value: true
    - Class: rviz/MarkerArray
      Enabled: true
      Marker Topic: /spots_marker_array
      Name: SpotLabel
      Namespaces:
        pin_body: true
        pin_head: true
        pin_label: true
      Queue Size: 100
      Value: true
    - Class: jsk_rviz_plugin/PictogramArray
      Enabled: true
      Name: SpotPictogram
      Topic: /spots_pictogram
      Unreliable: false
      Value: true
    - Alpha: 0.3499999940395355
      Class: rviz/Map
      Color Scheme: costmap
      Draw Behind: false
      Enabled: true
      Name: LocalCostMap
      Topic: /move_base/local_costmap/costmap
      Unreliable: false
      Use Timestamp: false
      Value: true
    - Alpha: 0.3499999940395355
      Class: rviz/Map
      Color Scheme: costmap
      Draw Behind: false
      Enabled: true
      Name: GlobalCostMap
      Topic: /move_base/global_costmap/costmap
      Unreliable: false
      Use Timestamp: false
      Value: true
    - Alpha: 1
      Arrow Length: 0.20000000298023224
      Axes Length: 0.30000001192092896
      Axes Radius: 0.009999999776482582
      Class: rviz/PoseArray
      Color: 255; 25; 0
      Enabled: true
      Head Length: 0.07000000029802322
      Head Radius: 0.029999999329447746
      Name: AMCLParticle
      Shaft Length: 0.23000000417232513
      Shaft Radius: 0.009999999776482582
      Shape: Arrow (Flat)
      Topic: /particlecloud
      Unreliable: false
      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
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Min Color: 0; 0; 0
      Name: BaseScan
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.07000000029802322
      Style: Spheres
      Topic: /base_scan/throttled
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      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: RGB8
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Min Color: 0; 0; 0
      Name: XtionPointCloud
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 4
      Size (m): 0.00800000037997961
      Style: Points
      Topic: /head_camera/depth_registered/quater/throttled/points
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Class: rviz/Group
      Displays:
        - Class: jsk_rviz_plugin/OverlayImage
          Enabled: true
          Name: XtionRGB
          Topic: /head_camera/rgb/image_rect_color
          Value: true
          alpha: 1
          height: 128
          keep aspect ratio: true
          left: 10
          overwrite alpha value: false
          top: 10
          transport hint: raw
          width: 320
      Enabled: true
      Name: XtionRGB
    - Class: jsk_rviz_plugin/OverlayImage
      Enabled: true
      Name: BlurredFramesRemoved
      Topic: /head_camera/rgb/image_rect_color/blurred_frames_removed
      Value: true
      alpha: 1
      height: 128
      keep aspect ratio: true
      left: 340
      overwrite alpha value: false
      top: 10
      transport hint: raw
      width: 320
    - Class: jsk_rviz_plugin/OverlayImage
      Enabled: true
      Name: NonBlurredFrames
      Topic: /head_camera/rgb/image_rect_color/non_blurred_frame
      Value: true
      alpha: 1
      height: 128
      keep aspect ratio: true
      left: 670
      overwrite alpha value: false
      top: 10
      transport hint: raw
      width: 320
  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
      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
      Single click: true
      Topic: /clicked_point
    - Class: jsk_rviz_plugin/CloseAll
    - Class: jsk_rviz_plugin/OpenAll
  Value: true
  Views:
    Current:
      Class: rviz/Orbit
      Distance: 10
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 0
        Y: 0
        Z: 0
      Focal Shape Fixed Size: false
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Pitch: 0.7853981852531433
      Target Frame: base_link
      Value: Orbit (rviz)
      Yaw: 0.7853981852531433
    Saved: ~
Window Geometry:
  CancelAction:
    collapsed: false
  Displays:
    collapsed: false
  Height: 1025
  Hide Left Dock: false
  Hide Right Dock: true
  QMainWindow State: 000000ff00000000fd0000000400000000000001f800000363fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073020000019b000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000363000000c900fffffffb00000018004b0069006e00650063007400430061006d0065007200610000000373000000160000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e006100720072006f007700430061006d0065007200610000000244000001460000000000000000fb0000001800430061006e00630065006c0041006300740069006f006e00000002ad000000f30000006000ffffff000000010000010f00000463fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000463000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005820000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 1920
  X: 0
  Y: 27
