Panels: - Class: rviz_common/Displays Help Height: 87 Name: Displays Property Tree Widget: Expanded: - /Global Options1 - /LaserScan1/Topic1 - /Cartographer1 - /Cartographer1/scan_matched_points21 Splitter Ratio: 0.3916349709033966 Tree Height: 716 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties Expanded: - /Publish Point1 - /2D Pose Estimate1 Name: Tool Properties Splitter Ratio: 0.5886790156364441 - Class: rviz_common/Views Expanded: - /Current View1 Name: Views Splitter Ratio: 0.5 Visualization Manager: Class: "" Displays: - Alpha: 0.5 Cell Size: 1 Class: rviz_default_plugins/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: Value: true - Class: rviz_default_plugins/TF Enabled: true Frame Timeout: 15 Frames: All Enabled: true base_footprint: Value: true base_link: Value: true base_scan: Value: true camera_depth_frame: Value: true camera_depth_optical_frame: Value: true camera_link: Value: true camera_rgb_frame: Value: true camera_rgb_optical_frame: Value: true caster_back_left_link: Value: true caster_back_right_link: Value: true imu_link: Value: true map: Value: true odom: Value: true wheel_left_link: Value: true wheel_right_link: Value: true Marker Scale: 1 Name: TF Show Arrows: true Show Axes: true Show Names: true Tree: map: odom: base_footprint: base_link: base_scan: {} camera_link: camera_depth_frame: camera_depth_optical_frame: {} camera_rgb_frame: camera_rgb_optical_frame: {} caster_back_left_link: {} caster_back_right_link: {} imu_link: {} wheel_left_link: {} wheel_right_link: {} 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_default_plugins/LaserScan Color: 255; 255; 255 Color Transformer: Intensity Decay Time: 0 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 0 Min Color: 0; 0; 0 Min Intensity: 0 Name: LaserScan Position Transformer: XYZ Selectable: true Size (Pixels): 3 Size (m): 0.019999999552965164 Style: Boxes Topic: Depth: 5 Durability Policy: Volatile Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /scan Use Fixed Frame: true Use rainbow: true Value: true - Angle Tolerance: 0.10000000149011612 Class: rviz_default_plugins/Odometry Covariance: Orientation: Alpha: 0.5 Color: 255; 255; 127 Color Style: Unique Frame: Local Offset: 1 Scale: 1 Value: true Position: Alpha: 0.30000001192092896 Color: 204; 51; 204 Scale: 1 Value: true Value: false Enabled: false Keep: 100 Name: Odometry Position Tolerance: 0.10000000149011612 Shape: Alpha: 1 Axes Length: 1 Axes Radius: 0.10000000149011612 Color: 255; 25; 0 Head Length: 0.30000001192092896 Head Radius: 0.10000000149011612 Shaft Length: 1 Shaft Radius: 0.05000000074505806 Value: Arrow Topic: Depth: 5 Durability Policy: Volatile Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /odom Value: false - Alpha: 0.699999988079071 Class: rviz_default_plugins/Map Color Scheme: map Draw Behind: false Enabled: true Name: Map Topic: Depth: 5 Durability Policy: Volatile Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /map Update Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable Value: /map_updates Use Timestamp: false Value: true - Class: rviz_common/Group Displays: - Class: rviz_common/Group Displays: - Alpha: 0.699999988079071 Class: rviz_default_plugins/Map Color Scheme: costmap Draw Behind: true Enabled: true Name: Map Topic: Depth: 5 Durability Policy: Volatile Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /global_costmap/costmap Update Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable Value: /global_costmap/costmap_updates Use Timestamp: false Value: true - Alpha: 1 Buffer Length: 1 Class: rviz_default_plugins/Path Color: 255; 0; 0 Enabled: true Head Diameter: 0.30000001192092896 Head Length: 0.20000000298023224 Length: 0.30000001192092896 Line Style: Lines Line Width: 0.029999999329447746 Name: Path 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: Depth: 5 Durability Policy: Volatile Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /global_plan Value: true Enabled: true Name: Global Map - Class: rviz_common/Group Displays: - Alpha: 1 Class: rviz_default_plugins/Polygon Color: 25; 255; 0 Enabled: true Name: Polygon Topic: Depth: 5 Durability Policy: Volatile Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /local_costmap/footprint Value: true - Alpha: 0.699999988079071 Class: rviz_default_plugins/Map Color Scheme: costmap Draw Behind: false Enabled: true Name: Map Topic: Depth: 5 Durability Policy: Volatile Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /local_costmap/costmap Update Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable Value: /local_costmap/costmap_updates Use Timestamp: false Value: true - Alpha: 1 Buffer Length: 1 Class: rviz_default_plugins/Path Color: 255; 255; 0 Enabled: true Head Diameter: 0.30000001192092896 Head Length: 0.20000000298023224 Length: 0.30000001192092896 Line Style: Lines Line Width: 0.029999999329447746 Name: Path 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: Depth: 5 Durability Policy: Volatile Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /local_plan Value: true Enabled: true Name: Local Map - Alpha: 1 Arrow Length: 0.05000000074505806 Axes Length: 0.30000001192092896 Axes Radius: 0.009999999776482582 Class: rviz_default_plugins/PoseArray Color: 0; 192; 0 Enabled: true Head Length: 0.07000000029802322 Head Radius: 0.029999999329447746 Name: PoseArray Shaft Length: 0.23000000417232513 Shaft Radius: 0.009999999776482582 Shape: Arrow (Flat) Topic: Depth: 5 Durability Policy: Volatile Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /particlecloud Value: true Enabled: false Name: Navigation - Class: rviz_common/Group Displays: - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 0.18203988671302795 Min Value: 0.18195410072803497 Value: true Axis: Z Channel Name: intensity Class: rviz_default_plugins/PointCloud2 Color: 0; 255; 0 Color Transformer: FlatColor 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: scan_matched_points2 Position Transformer: XYZ Selectable: true Size (Pixels): 3 Size (m): 0.009999999776482582 Style: Boxes Topic: Depth: 5 Durability Policy: Volatile Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /scan_matched_points2 Use Fixed Frame: true Use rainbow: true Value: true - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Trajectories Namespaces: {} Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable Value: /trajectory_node_list Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Constraints Namespaces: {} Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable Value: /constraint_list Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Landmark Poses Namespaces: {} Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable Value: /landmark_poses_list Value: false Enabled: true Name: Cartographer Enabled: true Global Options: Background Color: 48; 48; 48 Fixed Frame: map Frame Rate: 30 Name: root Tools: - Class: rviz_default_plugins/MoveCamera - Class: rviz_default_plugins/Select - Class: rviz_default_plugins/FocusCamera - Class: rviz_default_plugins/Measure Line color: 128; 128; 0 - Class: rviz_default_plugins/SetGoal Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable Value: /move_base_simple/goal - Class: rviz_default_plugins/PublishPoint Single click: true Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable Value: /clicked_point - Class: rviz_default_plugins/SetInitialPose Covariance x: 0.25 Covariance y: 0.25 Covariance yaw: 0.06853891909122467 Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable Value: initialpose Transformation: Current: Class: rviz_default_plugins/TF Value: true Views: Current: Angle: 0 Class: rviz_default_plugins/TopDownOrtho Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 Scale: 119.26066589355469 Target Frame: Value: TopDownOrtho (rviz_default_plugins) X: 0.0023878198117017746 Y: -0.17037495970726013 Saved: ~ Window Geometry: Displays: collapsed: false Height: 1001 Hide Left Dock: false Hide Right Dock: true QMainWindow State: 000000ff00000000fd00000004000000000000017a00000372fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004e00000372000000ff01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000236fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000236000000d701000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000006050000037200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Tool Properties: collapsed: false Views: collapsed: true Width: 1920 X: 0 Y: 0