Panels:
  - Class: rviz/Displays
    Help Height: 85
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Grid1/Offset1
        - /Scan Filtered1/Autocompute Value Bounds1
        - /Contains Test Model1/Namespaces1
      Splitter Ratio: 0.4968017041683197
    Tree Height: 721
  - 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
      - /Left1/Focal Point1
    Name: Views
    Splitter Ratio: 0.6810631155967712
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: Scan CLIP
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: -0.07000000029802322
      Plane: XY
      Plane Cell Count: 10
      Reference Frame: <Fixed Frame>
      Value: true
    - Alpha: 1
      Class: rviz/RobotModel
      Collision Enabled: true
      Enabled: false
      Links:
        All Links Enabled: true
        Expand Joint Details: false
        Expand Link Details: false
        Expand Tree: false
        Link Tree Style: Links in Alphabetic Order
      Name: RobotModel
      Robot Description: nifti_robot_description
      TF Prefix: ""
      Update Interval: 0
      Value: false
      Visual Enabled: false
    - Class: rviz/TF
      Enabled: true
      Frame Timeout: 15
      Frames:
        All Enabled: true
        antenna:
          Value: true
        base_link:
          Value: true
        base_link_orig:
          Value: true
        battery:
          Value: true
        camera_0:
          Value: true
        camera_1:
          Value: true
        camera_2:
          Value: true
        camera_3:
          Value: true
        camera_4:
          Value: true
        camera_5:
          Value: true
        camera_link:
          Value: true
        camera_tripod_screw_link:
          Value: true
        front_left_flipper:
          Value: true
        front_left_flipper_end_point:
          Value: true
        front_right_flipper:
          Value: true
        front_right_flipper_end_point:
          Value: true
        imu:
          Value: true
        jetson:
          Value: true
        laser:
          Value: true
        laser_base:
          Value: true
        left_track:
          Value: true
        map:
          Value: true
        mobilicom:
          Value: true
        mobilicom_antenna_l:
          Value: true
        mobilicom_antenna_r:
          Value: true
        odom:
          Value: true
        omnicam:
          Value: true
        pano:
          Value: true
        pano_seg:
          Value: true
        ptz:
          Value: true
        r24:
          Value: true
        r25:
          Value: true
        r26:
          Value: true
        r4:
          Value: true
        r5:
          Value: true
        r6:
          Value: true
        realsense_holder_part1:
          Value: true
        realsense_holder_part2:
          Value: true
        rear_left_flipper:
          Value: true
        rear_left_flipper_end_point:
          Value: true
        rear_right_box:
          Value: true
        rear_right_flipper:
          Value: true
        rear_right_flipper_end_point:
          Value: true
        right_track:
          Value: true
        subt:
          Value: true
        top_box:
          Value: true
      Marker Scale: 0.15000000596046448
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: true
      Tree:
        map:
          {}
        odom:
          base_link:
            antenna:
              {}
            battery:
              {}
            imu:
              {}
            laser_base:
              laser:
                {}
            left_track:
              front_left_flipper:
                front_left_flipper_end_point:
                  {}
              rear_left_flipper:
                rear_left_flipper_end_point:
                  {}
            rear_right_box:
              jetson:
                {}
              mobilicom:
                mobilicom_antenna_l:
                  {}
                mobilicom_antenna_r:
                  {}
              top_box:
                omnicam:
                  camera_0:
                    {}
                  camera_1:
                    {}
                  camera_2:
                    {}
                  camera_3:
                    {}
                  camera_4:
                    {}
                  camera_5:
                    {}
                  pano:
                    {}
                  pano_seg:
                    {}
                  ptz:
                    {}
                  realsense_holder_part1:
                    realsense_holder_part2:
                      camera_tripod_screw_link:
                        camera_link:
                          {}
            right_track:
              front_right_flipper:
                front_right_flipper_end_point:
                  {}
              rear_right_flipper:
                rear_right_flipper_end_point:
                  {}
          base_link_orig:
            {}
      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: 204; 0; 0
      Color Transformer: FlatColor
      Decay Time: 0
      Enabled: false
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 970
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: Scan Raw
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.009999999776482582
      Style: Flat Squares
      Topic: /scan
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: false
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 0.15000000596046448
        Min Value: -0.1500578373670578
        Value: false
      Axis: Z
      Channel Name: intensity
      Class: rviz/LaserScan
      Color: 73; 168; 53
      Color Transformer: AxisColor
      Decay Time: 6
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 715
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: Scan Filtered
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.029999999329447746
      Style: Points
      Topic: /scan_filtered
      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: 193; 125; 17
      Color Transformer: FlatColor
      Decay Time: 6
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 524
      Min Color: 0; 0; 0
      Min Intensity: 247
      Name: Scan INSIDE
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 6
      Size (m): 0.029999999329447746
      Style: Points
      Topic: /scan_point_cloud_inside
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Alpha: 0.800000011920929
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 10
        Min Value: -10
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/PointCloud2
      Color: 32; 74; 135
      Color Transformer: FlatColor
      Decay Time: 6
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: -999999
      Min Color: 0; 0; 0
      Min Intensity: 999999
      Name: Scan CLIP
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.10000000149011612
      Style: Flat Squares
      Topic: /scan_point_cloud_clip
      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: 92; 53; 102
      Color Transformer: FlatColor
      Decay Time: 6
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 634
      Min Color: 0; 0; 0
      Min Intensity: 336
      Name: Scan SHADOW
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 10
      Size (m): 0.3499999940395355
      Style: Points
      Topic: /scan_point_cloud_shadow
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Class: rviz/MarkerArray
      Enabled: false
      Marker Topic: /robot_model_for_contains_test
      Name: Contains Test Model
      Namespaces:
        {}
      Queue Size: 100
      Value: false
    - Class: rviz/MarkerArray
      Enabled: false
      Marker Topic: /robot_model_for_shadow_test
      Name: Shadow Test Model
      Namespaces:
        {}
      Queue Size: 100
      Value: false
    - Class: rviz/Marker
      Enabled: false
      Marker Topic: /robot_bounding_box_marker
      Name: Bounding box
      Namespaces:
        {}
      Queue Size: 100
      Value: false
    - Class: rviz/MarkerArray
      Enabled: false
      Marker Topic: /robot_bounding_box_debug
      Name: Bounding box debug
      Namespaces:
        {}
      Queue Size: 100
      Value: false
    - Class: rviz/Marker
      Enabled: false
      Marker Topic: /robot_local_bounding_box_marker
      Name: Local Bounding Box
      Namespaces:
        {}
      Queue Size: 100
      Value: false
    - Class: rviz/MarkerArray
      Enabled: false
      Marker Topic: /robot_local_bounding_box_debug
      Name: LocalBounding Box Debug
      Namespaces:
        {}
      Queue Size: 100
      Value: false
    - Class: rviz/Marker
      Enabled: false
      Marker Topic: /robot_bounding_sphere_marker
      Name: Bounding sphere
      Namespaces:
        {}
      Queue Size: 100
      Value: false
    - Class: rviz/MarkerArray
      Enabled: false
      Marker Topic: /robot_bounding_sphere_debug
      Name: Bounding sphere debug
      Namespaces:
        {}
      Queue Size: 100
      Value: false
    - 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
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 654
      Min Color: 0; 0; 0
      Min Intensity: 240
      Name: No bbox scan
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.009999999776482582
      Style: Flat Squares
      Topic: /scan_point_cloud_no_bbox
      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: Intensity
      Decay Time: 0
      Enabled: false
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 656
      Min Color: 0; 0; 0
      Min Intensity: 226
      Name: No local bbox scan
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.009999999776482582
      Style: Flat Squares
      Topic: /scan_point_cloud_no_local_bbox
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: false
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Default Light: true
    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
      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
  Value: true
  Views:
    Current:
      Class: rviz/Orbit
      Distance: 2.0334951877593994
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 0.1392146199941635
        Y: 0.04977293685078621
        Z: 0.4855469763278961
      Focal Shape Fixed Size: false
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Pitch: 0.45479685068130493
      Target Frame: base_link
      Value: Orbit (rviz)
      Yaw: 0.6590087413787842
    Saved:
      - Class: rviz/Orbit
        Distance: 1
        Enable Stereo Rendering:
          Stereo Eye Separation: 0.05999999865889549
          Stereo Focal Distance: 1
          Swap Stereo Eyes: false
          Value: false
        Focal Point:
          X: 1
          Y: 0
          Z: -0.07000000029802322
        Focal Shape Fixed Size: true
        Focal Shape Size: 0.05000000074505806
        Invert Z Axis: false
        Name: Front
        Near Clip Distance: 0.009999999776482582
        Pitch: 0
        Target Frame: <Fixed Frame>
        Value: Orbit (rviz)
        Yaw: 0
      - Class: rviz/Orbit
        Distance: 1
        Enable Stereo Rendering:
          Stereo Eye Separation: 0.05999999865889549
          Stereo Focal Distance: 1
          Swap Stereo Eyes: false
          Value: false
        Focal Point:
          X: 0
          Y: 1
          Z: -0.07000000029802322
        Focal Shape Fixed Size: true
        Focal Shape Size: 0.05000000074505806
        Invert Z Axis: false
        Name: Left
        Near Clip Distance: 0.009999999776482582
        Pitch: 0
        Target Frame: <Fixed Frame>
        Value: Orbit (rviz)
        Yaw: 1.5399999618530273
      - Class: rviz/Orbit
        Distance: 1
        Enable Stereo Rendering:
          Stereo Eye Separation: 0.05999999865889549
          Stereo Focal Distance: 1
          Swap Stereo Eyes: false
          Value: false
        Focal Point:
          X: 0
          Y: -1
          Z: -0.07000000029802322
        Focal Shape Fixed Size: true
        Focal Shape Size: 0.05000000074505806
        Invert Z Axis: false
        Name: Right
        Near Clip Distance: 0.009999999776482582
        Pitch: 0
        Target Frame: <Fixed Frame>
        Value: Orbit (rviz)
        Yaw: -1.5399999618530273
      - Class: rviz/Orbit
        Distance: 3
        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: true
        Focal Shape Size: 0.05000000074505806
        Invert Z Axis: false
        Name: Top
        Near Clip Distance: 0.009999999776482582
        Pitch: 1.5399999618530273
        Target Frame: <Fixed Frame>
        Value: Orbit (rviz)
        Yaw: 3.140000104904175
Window Geometry:
  Displays:
    collapsed: false
  Height: 1052
  Hide Left Dock: false
  Hide Right Dock: true
  QMainWindow State: 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
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 1853
  X: 67
  Y: 28
