plan_tut_mbot.rviz

Panels:
  - Class: rviz/Displays
    Help Height: 0
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Grid1
        - /TF1/Frames1
        - /Navigation1/nav goals1/Namespaces1
      Splitter Ratio: 0.667315006
    Tree Height: 544
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.588679016
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: trajectories
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.400000006
      Cell Size: 1
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.0299999993
        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: 0.600000024
      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_laser_front_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        base_laser_rear_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        front_left_wheel_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        front_right_wheel_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        head_camera_depth_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        head_camera_depth_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        head_camera_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        head_camera_model_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        head_camera_rgb_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        head_camera_rgb_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        head_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        neck_camera_depth_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        neck_camera_depth_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        neck_camera_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        neck_camera_model_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        neck_camera_rgb_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        neck_camera_rgb_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        rear_left_wheel_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        rear_right_wheel_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
    - Class: rviz/TF
      Enabled: true
      Frame Timeout: 1900
      Frames:
        All Enabled: false
        base_footprint:
          Value: false
        base_laser_front_link:
          Value: false
        base_laser_rear_link:
          Value: true
        base_link:
          Value: false
        front_left_wheel_link:
          Value: false
        front_right_wheel_link:
          Value: false
        head_camera_depth_frame:
          Value: false
        head_camera_depth_optical_frame:
          Value: false
        head_camera_link:
          Value: false
        head_camera_model_link:
          Value: false
        head_camera_rgb_frame:
          Value: false
        head_camera_rgb_optical_frame:
          Value: false
        head_link:
          Value: false
        map:
          Value: true
        neck_camera_depth_frame:
          Value: false
        neck_camera_depth_optical_frame:
          Value: false
        neck_camera_link:
          Value: false
        neck_camera_model_link:
          Value: false
        neck_camera_rgb_frame:
          Value: false
        neck_camera_rgb_optical_frame:
          Value: false
        odom:
          Value: false
        rear_left_wheel_link:
          Value: false
        rear_right_wheel_link:
          Value: false
      Marker Scale: 0.800000012
      Name: TF
      Show Arrows: false
      Show Axes: true
      Show Names: false
      Tree:
        map:
          odom:
            base_link:
              base_footprint:
                {}
              base_laser_front_link:
                {}
              base_laser_rear_link:
                {}
              front_left_wheel_link:
                {}
              front_right_wheel_link:
                {}
              head_link:
                head_camera_model_link:
                  head_camera_link:
                    head_camera_depth_frame:
                      head_camera_depth_optical_frame:
                        {}
                    head_camera_rgb_frame:
                      head_camera_rgb_optical_frame:
                        {}
                neck_camera_model_link:
                  neck_camera_link:
                    neck_camera_depth_frame:
                      neck_camera_depth_optical_frame:
                        {}
                    neck_camera_rgb_frame:
                      neck_camera_rgb_optical_frame:
                        {}
              rear_left_wheel_link:
                {}
              rear_right_wheel_link:
                {}
      Update Interval: 0
      Value: true
    - Class: rviz/Group
      Displays:
        - Alpha: 1
          Class: rviz/Polygon
          Color: 255; 85; 0
          Enabled: true
          Name: global_footprint
          Topic: /move_base/global_costmap/obstacles_footprint/footprint_stamped
          Unreliable: false
          Value: true
        - Alpha: 1
          Class: rviz/Polygon
          Color: 170; 85; 255
          Enabled: true
          Name: local_footprint
          Topic: /move_base/local_costmap/obstacle_layer_footprint/footprint_stamped
          Unreliable: false
          Value: true
        - Alpha: 0.899999976
          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; 85; 255
          Color Transformer: FlatColor
          Decay Time: 0
          Enabled: false
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Max Intensity: 4096
          Min Color: 0; 0; 0
          Min Intensity: 0
          Name: scan_front
          Position Transformer: XYZ
          Queue Size: 10
          Selectable: true
          Size (Pixels): 5
          Size (m): 0.00999999978
          Style: Points
          Topic: /scan_front
          Unreliable: false
          Use Fixed Frame: true
          Use rainbow: true
          Value: false
        - Alpha: 0.899999976
          Autocompute Intensity Bounds: true
          Autocompute Value Bounds:
            Max Value: 10
            Min Value: -10
            Value: true
          Axis: Z
          Channel Name: intensity
          Class: rviz/LaserScan
          Color: 255; 0; 0
          Color Transformer: FlatColor
          Decay Time: 0
          Enabled: false
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Max Intensity: 4096
          Min Color: 0; 0; 0
          Min Intensity: 0
          Name: scan_rear
          Position Transformer: XYZ
          Queue Size: 10
          Selectable: true
          Size (Pixels): 5
          Size (m): 0.00999999978
          Style: Points
          Topic: /scan_rear
          Unreliable: false
          Use Fixed Frame: true
          Use rainbow: true
          Value: false
        - 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: 255; 85; 0
          Color Transformer: FlatColor
          Decay Time: 0
          Enabled: false
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Max Intensity: 575
          Min Color: 0; 0; 0
          Min Intensity: 0
          Name: scan_combined
          Position Transformer: XYZ
          Queue Size: 10
          Selectable: true
          Size (Pixels): 3
          Size (m): 0.00999999978
          Style: Points
          Topic: /scan_combined
          Unreliable: false
          Use Fixed Frame: true
          Use rainbow: true
          Value: false
        - Alpha: 0.5
          Class: rviz/Map
          Color Scheme: map
          Draw Behind: true
          Enabled: true
          Name: map
          Topic: /map
          Unreliable: false
          Use Timestamp: false
          Value: true
        - Alpha: 0.699999988
          Class: rviz/Map
          Color Scheme: costmap
          Draw Behind: false
          Enabled: false
          Name: local_costmap
          Topic: /move_base/local_costmap/costmap
          Unreliable: false
          Use Timestamp: false
          Value: false
        - Alpha: 0.200000003
          Class: rviz/Map
          Color Scheme: costmap
          Draw Behind: false
          Enabled: false
          Name: global_costmap
          Topic: /move_base/global_costmap/costmap
          Unreliable: false
          Use Timestamp: false
          Value: false
        - Alpha: 1
          Buffer Length: 1
          Class: rviz/Path
          Color: 170; 0; 127
          Enabled: true
          Head Diameter: 0.300000012
          Head Length: 0.200000003
          Length: 0.300000012
          Line Style: Lines
          Line Width: 0.0299999993
          Name: global_plan
          Offset:
            X: 0
            Y: 0
            Z: 0
          Pose Color: 255; 85; 255
          Pose Style: None
          Radius: 0.0299999993
          Shaft Diameter: 0.100000001
          Shaft Length: 0.100000001
          Topic: /move_base/GlobalPlanner/plan
          Unreliable: false
          Value: true
        - Class: rviz/Group
          Displays:
            - Alpha: 1
              Buffer Length: 1
              Class: rviz/Path
              Color: 25; 255; 0
              Enabled: true
              Head Diameter: 0.300000012
              Head Length: 0.200000003
              Length: 0.300000012
              Line Style: Lines
              Line Width: 0.0299999993
              Name: dwa_global_plan
              Offset:
                X: 0
                Y: 0
                Z: 0
              Pose Color: 255; 85; 255
              Pose Style: None
              Radius: 0.0299999993
              Shaft Diameter: 0.100000001
              Shaft Length: 0.100000001
              Topic: /move_base/DWAPlannerROS/global_plan
              Unreliable: false
              Value: true
            - Alpha: 0.800000012
              Autocompute Intensity Bounds: true
              Autocompute Value Bounds:
                Max Value: 10
                Min Value: -10
                Value: true
              Axis: Z
              Channel Name: total_cost
              Class: rviz/PointCloud2
              Color: 255; 85; 0
              Color Transformer: Intensity
              Decay Time: 0
              Enabled: false
              Invert Rainbow: false
              Max Color: 85; 85; 255
              Max Intensity: 313.609985
              Min Color: 255; 255; 255
              Min Intensity: 0
              Name: cost grid
              Position Transformer: XYZ
              Queue Size: 10
              Selectable: true
              Size (Pixels): 3
              Size (m): 0.0500000007
              Style: Flat Squares
              Topic: /move_base/DWAPlannerROS/cost_cloud
              Unreliable: false
              Use Fixed Frame: true
              Use rainbow: false
              Value: false
            - 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: 85; 0; 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: trajectories
              Position Transformer: XYZ
              Queue Size: 10
              Selectable: true
              Size (Pixels): 1
              Size (m): 0.00999999978
              Style: Points
              Topic: /move_base/DWAPlannerROS/trajectory_cloud
              Unreliable: false
              Use Fixed Frame: true
              Use rainbow: true
              Value: true
            - Alpha: 1
              Buffer Length: 1
              Class: rviz/Path
              Color: 0; 85; 255
              Enabled: true
              Head Diameter: 0.300000012
              Head Length: 0.200000003
              Length: 0.300000012
              Line Style: Billboards
              Line Width: 0.0299999993
              Name: winner trajectory
              Offset:
                X: 0
                Y: 0
                Z: 0
              Pose Color: 255; 85; 255
              Pose Style: None
              Radius: 0.0299999993
              Shaft Diameter: 0.100000001
              Shaft Length: 0.100000001
              Topic: /move_base/DWAPlannerROS/local_plan
              Unreliable: false
              Value: true
          Enabled: true
          Name: dwa
        - Alpha: 1
          Arrow Length: 0.300000012
          Axes Length: 0.300000012
          Axes Radius: 0.00999999978
          Class: rviz/PoseArray
          Color: 255; 25; 0
          Enabled: true
          Head Length: 0.0700000003
          Head Radius: 0.0299999993
          Name: amcl particles
          Shaft Length: 0.230000004
          Shaft Radius: 0.00999999978
          Shape: Arrow (Flat)
          Topic: /particlecloud
          Unreliable: false
          Value: true
        - Class: rviz/MarkerArray
          Enabled: false
          Marker Topic: /visualization_marker_array
          Name: nav goals
          Namespaces:
            {}
          Queue Size: 100
          Value: false
        - Class: rviz/Axes
          Enabled: false
          Length: 0.300000012
          Name: base_link
          Radius: 0.0299999993
          Reference Frame: base_link
          Value: false
        - Class: rviz/Group
          Displays:
            - Class: rviz/Marker
              Enabled: true
              Marker Topic: /move_base/force_field_recovery/force_field_vector
              Name: ff_vector
              Namespaces:
                force_field: true
              Queue Size: 100
              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; 85; 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: obstacle_cloud
              Position Transformer: XYZ
              Queue Size: 10
              Selectable: true
              Size (Pixels): 3
              Size (m): 0.0500000007
              Style: Spheres
              Topic: /move_base/force_field_recovery/obstacle_cloud
              Unreliable: false
              Use Fixed Frame: true
              Use rainbow: true
              Value: true
            - Class: rviz/Marker
              Enabled: true
              Marker Topic: /move_base/force_field_recovery/obstacle_neighborhood
              Name: obst_neighbourhood
              Namespaces:
                force_field: true
              Queue Size: 100
              Value: true
          Enabled: true
          Name: force_field
        - Class: rviz/Group
          Displays:
            - Alpha: 1
              Axes Length: 1
              Axes Radius: 0.100000001
              Class: rviz/Pose
              Color: 0; 85; 0
              Enabled: true
              Head Length: 0.300000012
              Head Radius: 0.100000001
              Name: base_link_as_pose
              Shaft Length: 1
              Shaft Radius: 0.0500000007
              Shape: Arrow
              Topic: /mcr_navigation/direct_base_controller/pose_converter/converted_pose
              Unreliable: false
              Value: true
            - Alpha: 1
              Axes Length: 1
              Axes Radius: 0.100000001
              Class: rviz/Pose
              Color: 85; 85; 255
              Enabled: true
              Head Length: 0.300000012
              Head Radius: 0.100000001
              Name: goal_pose
              Shaft Length: 1
              Shaft Radius: 0.0500000007
              Shape: Arrow
              Topic: /pose_transformer/transformed_pose
              Unreliable: false
              Value: true
          Enabled: false
          Name: direct_base_ctrl
      Enabled: true
      Name: Navigation
    - Class: rviz/InteractiveMarkers
      Enable Transparency: true
      Enabled: true
      Name: TopologicalNodes
      Show Axes: false
      Show Descriptions: true
      Show Visual Aids: false
      Update Topic: /go_to_node/update
      Value: true
    - Class: rviz/MarkerArray
      Enabled: true
      Marker Topic: /topological_map_visualisation
      Name: TopoMap
      Namespaces:
        /edges: true
        /legend: true
        /nodes: true
        /zones: true
      Queue Size: 100
      Value: true
    - Class: rviz/MarkerArray
      Enabled: true
      Marker Topic: /topological_edges_policies
      Name: NavPolicy
      Namespaces:
        {}
      Queue Size: 100
      Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Fixed Frame: map
    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/Orbit
      Distance: 23.3168812
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.0599999987
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 12.114892
        Y: -1.31146884
        Z: -0.118660443
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.0500000007
      Name: Current View
      Near Clip Distance: 0.00999999978
      Pitch: 1.56979632
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 1.98539007
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 744
  Hide Left Dock: false
  Hide Right Dock: true
  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000261fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000261000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e0067010000010b000001820000000000000000fb0000001a006d0062006f0074005f0068006500610064005f00630061006d00000001d4000000b50000000000000000000000010000015900000361fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000361000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005190000003bfc0100000002fb0000000800540069006d00650100000000000005190000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003a90000026100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 1305
  X: 55
  Y: 24