Panels:
  - Class: rviz_common/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
        - /RobotModel1
        - /RobotModel1/Description Topic1
        - /TF1/Frames1
        - /PointCloud21
        - /Image1
        - /Image2
      Splitter Ratio: 0.36195287108421326
    Tree Height: 308
  - Class: rviz_common/Selection
    Name: Selection
  - Class: rviz_common/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /Publish Point1
    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: <Fixed Frame>
      Value: true
    - Alpha: 1
      Class: rviz_default_plugins/RobotModel
      Collision Enabled: false
      Description File: ""
      Description Source: Topic
      Description Topic:
        Depth: 5
        Durability Policy: Volatile
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /robot_description
      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_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_accel_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_accel_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_bottom_screw_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_color_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_color_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_depth_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_depth_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_gyro_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_gyro_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_imu_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_infra1_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_infra1_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_infra2_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_infra2_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        camera_usb_plug_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
      Mass Properties:
        Inertia: false
        Mass: false
      Name: RobotModel
      TF Prefix: ""
      Update Interval: 0
      Value: true
      Visual Enabled: true
    - Class: rviz_default_plugins/TF
      Enabled: true
      Frame Timeout: 15
      Frames:
        All Enabled: true
        base_link:
          Value: true
        camera_accel_frame:
          Value: true
        camera_accel_optical_frame:
          Value: true
        camera_bottom_screw_frame:
          Value: true
        camera_color_frame:
          Value: true
        camera_color_optical_frame:
          Value: true
        camera_depth_frame:
          Value: true
        camera_depth_optical_frame:
          Value: true
        camera_gyro_frame:
          Value: true
        camera_gyro_optical_frame:
          Value: true
        camera_imu_optical_frame:
          Value: true
        camera_infra1_frame:
          Value: true
        camera_infra1_optical_frame:
          Value: true
        camera_infra2_frame:
          Value: true
        camera_infra2_optical_frame:
          Value: true
        camera_link:
          Value: true
        camera_usb_plug_link:
          Value: true
      Marker Scale: 0.10000000149011612
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: false
      Tree:
        base_link:
          camera_bottom_screw_frame:
            camera_link:
              camera_accel_frame:
                camera_accel_optical_frame:
                  {}
              camera_color_frame:
                camera_color_optical_frame:
                  {}
              camera_depth_frame:
                camera_depth_optical_frame:
                  {}
              camera_gyro_frame:
                camera_gyro_optical_frame:
                  camera_imu_optical_frame:
                    {}
              camera_infra1_frame:
                camera_infra1_optical_frame:
                  {}
              camera_infra2_frame:
                camera_infra2_optical_frame:
                  {}
              camera_usb_plug_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/PointCloud2
      Color: 255; 255; 255
      Color Transformer: RGB8
      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
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.009999999776482582
      Style: Flat Squares
      Topic:
        Depth: 5
        Durability Policy: Volatile
        Filter size: 10
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /camera/camera/depth/color/points
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Class: rviz_default_plugins/Image
      Enabled: true
      Max Value: 1
      Median window: 5
      Min Value: 0
      Name: Image
      Normalize Range: true
      Topic:
        Depth: 5
        Durability Policy: Volatile
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /camera/camera/color/image_raw
      Value: true
    - Class: rviz_default_plugins/Image
      Enabled: true
      Max Value: 1
      Median window: 5
      Min Value: 0
      Name: Image
      Normalize Range: true
      Topic:
        Depth: 5
        Durability Policy: Volatile
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /camera/camera/depth/image_rect_raw
      Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Fixed Frame: base_link
    Frame Rate: 30
  Name: root
  Tools:
    - Class: rviz_default_plugins/Interact
      Hide Inactive Objects: true
    - 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/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
    - Class: rviz_default_plugins/SetGoal
      Topic:
        Depth: 5
        Durability Policy: Volatile
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /goal_pose
    - Class: rviz_default_plugins/PublishPoint
      Single click: true
      Topic:
        Depth: 5
        Durability Policy: Volatile
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /clicked_point
  Transformation:
    Current:
      Class: rviz_default_plugins/TF
  Value: true
  Views:
    Current:
      Class: rviz_default_plugins/Orbit
      Distance: 4.639365196228027
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 0.0008243769989348948
        Y: -0.00015415334200952202
        Z: 0.0003343875869177282
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Pitch: 1.2247962951660156
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 3.343583583831787
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 1016
  Hide Left Dock: false
  Hide Right Dock: false
  Image:
    collapsed: false
  QMainWindow State: 000000ff00000000fd0000000400000000000002540000039efc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001bf000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650100000132000000b00000000000000000fb0000000a0049006d00610067006501000001e8000000ed0000000000000000fb0000000a0049006d0061006700650100000202000000e90000002800fffffffb0000000a0049006d00610067006501000002f1000000ea0000002800ffffff000000010000010f0000039efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000039e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000003c70000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 1846
  X: 74
  Y: 27