Panels:
  - Class: rviz/Displays
    Help Height: 0
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
        - /DepthCloud1/Status1
        - /DepthCloud1/Auto Size1
        - /DepthCloud1/Occlusion Compensation1
        - /Image1/Status1
      Splitter Ratio: 0.5
    Tree Height: 284
  - 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: true
    Name: Time
    SyncMode: 0
    SyncSource: Image
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: 1
      Class: rviz/RobotModel
      Collision Enabled: false
      Enabled: true
      Links:
        All Links Enabled: true
        BumperB_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        BumperFL_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        BumperFR_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        CameraBottom_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        CameraBottom_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        CameraDepth_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        CameraDepth_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        CameraTop_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        CameraTop_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        ChestButton_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        Expand Joint Details: false
        Expand Link Details: false
        Expand Tree: false
        Head:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        HeadTouchFront_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        HeadTouchMiddle_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        HeadTouchRear_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        Hip:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        ImuBaseAccelerometer_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        ImuBaseGyrometer_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        ImuTorsoAccelerometer_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        ImuTorsoGyrometer_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        LBicep:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LElbow:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LFinger11_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LFinger12_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LFinger13_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LFinger21_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LFinger22_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LFinger23_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LFinger31_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LFinger32_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LFinger33_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LFinger41_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LFinger42_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LFinger43_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LForeArm:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LHandTouchBack_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        LShoulder:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LSpeaker_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        LThumb1_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LThumb2_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        Link Tree Style: Links in Alphabetic Order
        Neck:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        Pelvis:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RBicep:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RElbow:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RFinger11_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RFinger12_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RFinger13_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RFinger21_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RFinger22_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RFinger23_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RFinger31_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RFinger32_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RFinger33_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RFinger41_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RFinger42_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RFinger43_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RForeArm:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RHandTouchBack_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        RShoulder:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RSpeaker_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        RThumb1_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RThumb2_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        ShovelLaser_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        SonarBack_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        SonarFront_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        SurroundingFrontLaser_device_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        SurroundingFrontLaser_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        SurroundingLeftLaser_device_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        SurroundingLeftLaser_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        SurroundingRightLaser_device_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        SurroundingRightLaser_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        Tablet_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        Tibia:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        VerticalLeftLaser_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        VerticalRightLaser_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        WheelB_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        WheelFL_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        WheelFR_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        base_footprint:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        l_gripper:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        l_wrist:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        r_gripper:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        r_wrist:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        torso:
          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
    - 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: /pepper_robot/camera/front/camera/image_raw
      Color Transformer: RGB8
      Color Transport Hint: raw
      Decay Time: 0
      Depth Map Topic: /pepper_robot/camera/depth/camera/image_raw
      Depth Map Transport Hint: raw
      Enabled: true
      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: Flat Squares
      Topic Filter: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Class: rviz/Image
      Enabled: true
      Image Topic: /pepper_robot/camera/front/camera/image_raw
      Max Value: 1
      Median window: 5
      Min Value: 0
      Name: Image
      Normalize Range: true
      Queue Size: 2
      Transport Hint: raw
      Value: true
    - Alpha: 0.5
      Buffer Length: 1
      Class: rviz/Range
      Color: 255; 255; 255
      Enabled: true
      Name: Range
      Queue Size: 100
      Topic: /pepper_robot/sonar/front/sonar
      Value: true
    - Alpha: 0.5
      Buffer Length: 1
      Class: rviz/Range
      Color: 255; 255; 255
      Enabled: true
      Name: Range
      Queue Size: 100
      Topic: /pepper_robot/sonar/back/sonar
      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
      Invert Rainbow: false
      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): 0.05
      Style: Squares
      Topic: /laser/ground_left/pointcloud
      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: true
      Invert Rainbow: false
      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): 0.05
      Style: Squares
      Topic: /laser/ground_right/pointcloud
      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: true
      Invert Rainbow: false
      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): 0.05
      Style: Squares
      Topic: /pepper/laser/srd_left/pointcloud
      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: true
      Invert Rainbow: false
      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): 0.05
      Style: Squares
      Topic: /pepper/laser/srd_right/pointcloud
      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: true
      Invert Rainbow: false
      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): 0.05
      Style: Boxes
      Topic: /pepper/laser/ground_left/pointcloud
      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: true
      Invert Rainbow: false
      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): 0.05
      Style: Boxes
      Topic: /pepper/laser/ground_right/pointcloud
      Use Fixed Frame: true
      Use rainbow: true
      Value: 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
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Fixed Frame: base_footprint
    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
  Value: true
  Views:
    Current:
      Class: rviz/XYOrbit
      Distance: 3.5673
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.06
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 0.549272
        Y: 0.416871
        Z: -1.19209e-07
      Name: Current View
      Near Clip Distance: 0.01
      Pitch: 0.195204
      Target Frame: <Fixed Frame>
      Value: XYOrbit (rviz)
      Yaw: 3.1604
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 795
  Hide Left Dock: false
  Hide Right Dock: false
  Image:
    collapsed: false
  QMainWindow State: 000000ff00000000fd00000004000000000000013c00000278fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073020000017b000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000410000015d000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000001a4000001150000001600ffffff000000010000010f00000294fc0200000003fb0000000a00560069006500770073000000004100000294000000b000fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004640000003efc0100000002fb0000000800540069006d00650100000000000004640000031b00fffffffb0000000800540069006d00650100000000000004500000000000000000000003220000027800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 1124
  X: 347
  Y: 124