Panels:
  - Class: rviz/Displays
    Help Height: 0
    Name: Displays
    Property Tree Widget:
      Expanded: ~
      Splitter Ratio: 0.5
    Tree Height: 636
  - 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
    Name: Time
    SyncMode: 0
    SyncSource: ""
  - Class: orne_rviz_plugins/StateTriggerPanel
    Name: StateTriggerPanel
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: 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
      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_footprint:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        base_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
        left_caster_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        left_wheel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        right_caster_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        right_wheel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        velodyne_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
    - 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: 0; 255; 0
      Color Transformer: FlatColor
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 170; 0; 0
      Min Color: 0; 85; 0
      Name: LaserScan
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 5
      Size (m): 0.10000000149011612
      Style: Points
      Topic: /scan
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Alpha: 1
      Arrow Length: 0.30000001192092896
      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: Particles
      Queue Size: 10
      Shaft Length: 0.23000000417232513
      Shaft Radius: 0.009999999776482582
      Shape: Arrow (Flat)
      Topic: /particlecloud
      Unreliable: false
      Value: true
    - Alpha: 1
      Class: rviz/Polygon
      Color: 25; 255; 0
      Enabled: true
      Name: Footprint
      Queue Size: 10
      Topic: /move_base/global_costmap/obstacle_layer_footprint/footprint_stamped
      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: Global Plan
      Offset:
        X: 0
        Y: 0
        Z: 0
      Pose Color: 255; 85; 255
      Pose Style: None
      Queue Size: 10
      Radius: 0.029999999329447746
      Shaft Diameter: 0.10000000149011612
      Shaft Length: 0.10000000149011612
      Topic: /move_base/NavfnROS/plan
      Unreliable: false
      Value: true
    - Alpha: 1
      Buffer Length: 1
      Class: rviz/Path
      Color: 255; 255; 0
      Enabled: true
      Head Diameter: 0.30000001192092896
      Head Length: 0.20000000298023224
      Length: 0.30000001192092896
      Line Style: Billboards
      Line Width: 0.10000000149011612
      Name: Local Plan
      Offset:
        X: 0
        Y: 0
        Z: 0
      Pose Color: 255; 85; 255
      Pose Style: None
      Queue Size: 10
      Radius: 0.029999999329447746
      Shaft Diameter: 0.10000000149011612
      Shaft Length: 0.10000000149011612
      Topic: /move_base/TrajectoryPlannerROS/local_plan
      Unreliable: false
      Value: true
    - Alpha: 0.699999988079071
      Class: rviz/Map
      Color Scheme: costmap
      Draw Behind: true
      Enabled: true
      Name: GlobalCostmap
      Topic: /move_base/global_costmap/costmap
      Unreliable: false
      Use Timestamp: false
      Value: true
    - Alpha: 0.699999988079071
      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: 1
      Arrow Length: 0.30000001192092896
      Axes Length: 0.30000001192092896
      Axes Radius: 0.009999999776482582
      Class: rviz/PoseArray
      Color: 0; 0; 127
      Enabled: true
      Head Length: 0.07000000029802322
      Head Radius: 0.029999999329447746
      Name: Waypoints
      Queue Size: 10
      Shaft Length: 0.23000000417232513
      Shaft Radius: 0.009999999776482582
      Shape: Arrow (Flat)
      Topic: /waypoints
      Unreliable: false
      Value: true
    - Alpha: 1
      Axes Length: 1
      Axes Radius: 0.10000000149011612
      Class: rviz/Pose
      Color: 0; 0; 127
      Enabled: false
      Head Length: 0.30000001192092896
      Head Radius: 0.10000000149011612
      Name: Pose
      Queue Size: 10
      Shaft Length: 1
      Shaft Radius: 0.05000000074505806
      Shape: Arrow
      Topic: /move_base_simple/goal
      Unreliable: false
      Value: false
    - Alpha: 1
      Class: rviz/PointStamped
      Color: 204; 41; 204
      Enabled: false
      History Length: 10
      Name: PointStamped
      Queue Size: 10
      Radius: 0.20000000298023224
      Topic: /target_point
      Unreliable: false
      Value: false
    - Alpha: 1
      Class: rviz/PointStamped
      Color: 239; 41; 41
      Enabled: false
      History Length: 1
      Name: PointStamped
      Queue Size: 10
      Radius: 0.4000000059604645
      Topic: /filtered_target_point
      Unreliable: false
      Value: false
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Default Light: true
    Fixed Frame: map
    Frame Rate: 10
  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/ThirdPersonFollower
      Distance: 35.39775466918945
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Field of View: 0.7853981852531433
      Focal Point:
        X: -0.3276565670967102
        Y: -0.7599051594734192
        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: 1.339796543121338
      Target Frame: base_link
      Yaw: 3.1153953075408936
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 897
  Hide Left Dock: false
  Hide Right Dock: true
  QMainWindow State: 000000ff00000000fd00000004000000000000019300000326fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003e000002b9000000cb00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000002200530074006100740065005400720069006700670065007200500061006e0065006c01000002fd000000670000004100ffffff000000010000010f000002b3fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003e000002b3000000a500fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005e00000003bfc0100000002fb0000000800540069006d00650000000000000005e00000039300fffffffb0000000800540069006d006501000000000000045000000000000000000000035c0000032600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  StateTriggerPanel:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 1269
  X: 564
  Y: -20
