Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
        - /Marker1
      Splitter Ratio: 0.5
    Tree Height: 472
  - 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: ""
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: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 10
      Reference Frame: <Fixed Frame>
      Value: true
    - Alpha: 1
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: true
      Name: Map
      Topic: /map
      Unreliable: false
      Value: true
    - Class: rviz/Marker
      Enabled: true
      Marker Topic: /shapes
      Name: Marker
      Namespaces:
        markers: true
      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: 21.6982
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.06
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 0.83662
        Y: 0.0631429
        Z: -0.190791
      Name: Current View
      Near Clip Distance: 0.01
      Pitch: 1.5698
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 4.7054
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 750
  Hide Left Dock: false
  Hide Right Dock: true
  QMainWindow State:  
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 1335
  X: 31
  Y: 18
