Panels:
  - Class: rviz/Displays
    Help Height: 61
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /TF1/Frames1
        - /Map1/Orientation1
      Splitter Ratio: 0.618123
    Tree Height: 656
  - 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: false
    Name: Time
    SyncMode: 0
    SyncSource: ""
  - Class: rviz/Tool Properties
    Expanded: ~
    Name: Tool Properties
    Splitter Ratio: 0.5
  - Class: rviz/Tool Properties
    Expanded: ~
    Name: Tool Properties
    Splitter Ratio: 0.439446
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: 5
        Y: 5
        Z: 0
      Plane: XY
      Plane Cell Count: 10
      Reference Frame: <Fixed Frame>
      Value: true
    - Alpha: 1
      Class: rviz/Polygon
      Color: 25; 255; 0
      Enabled: false
      Name: Robot Footprint
      Topic: /move_base/global_costmap/obstacle_layer_footprint/footprint_stamped
      Value: false
    - Alpha: 1
      Buffer Length: 1
      Class: rviz/Path
      Color: 25; 255; 0
      Enabled: true
      Line Style: Lines
      Line Width: 0.03
      Name: Global Plan
      Offset:
        X: 0
        Y: 0
        Z: 0
      Topic: /move_base/TrajectoryPlannerROS/global_plan
      Value: true
    - Alpha: 1
      Buffer Length: 1
      Class: rviz/Path
      Color: 0; 25; 255
      Enabled: true
      Line Style: Lines
      Line Width: 0.03
      Name: Local Plan
      Offset:
        X: 0
        Y: 0
        Z: 0
      Topic: /move_base/TrajectoryPlannerROS/local_plan
      Value: true
    - Alpha: 1
      Buffer Length: 1
      Class: rviz/Path
      Color: 25; 255; 0
      Enabled: true
      Line Style: Lines
      Line Width: 0.03
      Name: Planner Plan
      Offset:
        X: 0
        Y: 0
        Z: 0
      Topic: /move_base/NavfnROS/plan
      Value: true
    - Alpha: 1
      Axes Length: 1
      Axes Radius: 0.1
      Class: rviz/Pose
      Color: 255; 25; 0
      Enabled: true
      Head Length: 0.3
      Head Radius: 0.1
      Name: Current Goal
      Shaft Length: 1
      Shaft Radius: 0.05
      Shape: Arrow
      Topic: /move_base/current_goal
      Value: true
    - Class: rviz/TF
      Enabled: false
      Frame Timeout: 15
      Frames:
        All Enabled: false
      Marker Scale: 1
      Name: TF
      Show Arrows: false
      Show Axes: true
      Show Names: false
      Tree:
        {}
      Update Interval: 0
      Value: false
    - 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
        aft_wheel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        forward_sensor:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        left_wheel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        right_wheel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        tail:
          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: 0.5
      Buffer Length: 1
      Class: rviz/Range
      Color: 255; 255; 255
      Enabled: true
      Name: Range
      Queue Size: 100
      Topic: /sonar
      Value: true
    - Alpha: 0.7
      Class: rviz/Map
      Color Scheme: costmap
      Draw Behind: false
      Enabled: true
      Name: ObstaclesMap
      Topic: /move_base/local_costmap/costmap
      Value: true
    - Alpha: 0.7
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: false
      Name: Map
      Topic: /map
      Value: false
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Fixed Frame: odom
    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
      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/Orbit
      Distance: 4.16269
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.06
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 5.27226
        Y: 3.90177
        Z: 0.615206
      Name: Current View
      Near Clip Distance: 0.01
      Pitch: 1.4798
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 3.02126
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 855
  Hide Left Dock: false
  Hide Right Dock: false
  QMainWindow State: 000000ff00000000fd00000004000000000000019300000309fc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003500000309000000b600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e0054006f006f006c002000500072006f0070006500720074006900650073000000026d0000008d0000005300fffffffb0000000a0049006d0061006700650000000282000000bc0000000000000000fb0000000a0049006d006100670065000000027c000000c20000000000000000fb0000000a0049006d006100670065000000027c000000c20000000000000000000000010000012500000309fc0200000002fc00000035000003090000000000fffffffaffffffff0100000002fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730000000000ffffffff0000009100fffffffb0000000a0056006900650077007300000005310000010f000000f100fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d00650000000000000006400000024700fffffffb0000000800540069006d00650100000000000004500000000000000000000004a70000030900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 1600
  X: 0
  Y: 0