Panels: - Class: rviz/Displays Help Height: 81 Name: Displays Property Tree Widget: Expanded: - /Global Options1 Splitter Ratio: 0.6050959825515747 Tree Height: 546 - 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 Experimental: false Name: Time SyncMode: 0 SyncSource: "" 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: 50 Reference 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 - Class: rviz/Group Displays: - Class: rviz/Marker Enabled: true Marker Topic: /move_base/MpcLocalPlannerROS/mpc_markers Name: MpcMarker Namespaces: PointObstacles: true Queue Size: 100 Value: true - Alpha: 1 Buffer Length: 1 Class: rviz/Path Color: 255; 0; 0 Enabled: true Head Diameter: 0.05000000074505806 Head Length: 0.10000000149011612 Length: 0.30000001192092896 Line Style: Lines Line Width: 0.029999999329447746 Name: LocalPath Offset: X: 0 Y: 0 Z: 0 Pose Color: 164; 0; 0 Pose Style: Arrows Radius: 0.029999999329447746 Shaft Diameter: 0.02500000037252903 Shaft Length: 0.10000000149011612 Topic: /move_base/MpcLocalPlannerROS/local_plan Unreliable: false Value: true - Alpha: 0.4000000059604645 Class: rviz/Map Color Scheme: map Draw Behind: false Enabled: true Name: LocalCostmap Topic: /move_base/local_costmap/costmap Unreliable: false Use Timestamp: false Value: true Enabled: true Name: Local Planner - Class: rviz/Group Displays: - 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: GlobalPath 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: /move_base/GlobalPlanner/plan Unreliable: false Value: true - Alpha: 0.699999988079071 Class: rviz/Map Color Scheme: map Draw Behind: false Enabled: true Name: GlobalCostmap Topic: /move_base/global_costmap/costmap Unreliable: false Use Timestamp: false Value: true Enabled: true Name: Global Planner - Class: rviz/Group Displays: - Alpha: 1 Class: rviz/Polygon Color: 85; 0; 255 Enabled: true Name: Robot Footprint Topic: /move_base/local_costmap/footprint Unreliable: false 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/LaserScan Color: 255; 255; 255 Color Transformer: Intensity Decay Time: 0 Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 1 Min Color: 0; 0; 0 Min Intensity: 1 Name: LaserScan Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.009999999776482582 Style: Flat Squares Topic: /scan Unreliable: false Use Fixed Frame: true Use rainbow: true Value: false - Alpha: 1 Arrow Length: 0.10000000149011612 Axes Length: 0.30000001192092896 Axes Radius: 0.009999999776482582 Class: rviz/PoseArray Color: 255; 25; 0 Enabled: false Head Length: 0.07000000029802322 Head Radius: 0.029999999329447746 Name: AMCL Particles Shaft Length: 0.23000000417232513 Shaft Radius: 0.009999999776482582 Shape: Arrow (Flat) Topic: /particlecloud Unreliable: false Value: false - Class: rviz/TF Enabled: false Frame Timeout: 15 Frames: All Enabled: true Marker Scale: 1 Name: TF Show Arrows: true Show Axes: true Show Names: true Tree: {} Update Interval: 0 Value: false - Angle Tolerance: 0.10000000149011612 Class: rviz/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: true 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: /odom Unreliable: false Value: false Enabled: true Name: Robot Enabled: true Global Options: Background Color: 255; 255; 255 Default Light: true 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 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/Orbit Distance: 12.58323860168457 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: X: 5.375269889831543 Y: 5.046060085296631 Z: -1.4013299942016602 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 Pitch: 1.5648000240325928 Target Frame: Value: Orbit (rviz) Yaw: 4.710430145263672 Saved: ~ Window Geometry: Displays: collapsed: false Height: 846 Hide Left Dock: false Hide Right Dock: true QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002c4000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004bf0000003efc0100000002fb0000000800540069006d00650100000000000004bf000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000363000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: collapsed: false Tool Properties: collapsed: false Views: collapsed: true Width: 1215 X: 705 Y: 37