Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Odometry1/Shape1
        - /Odometry1/Covariance1
        - /Odometry2/Shape1
        - /Odometry2/Covariance1
      Splitter Ratio: 0.522222221
    Tree Height: 595
  - 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: LaserScan
Toolbars:
  toolButtonStyle: 2
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: 5
        Y: 5
        Z: 0
      Plane: XY
      Plane Cell Count: 40
      Reference Frame: map
      Value: true
    - Class: rviz/TF
      Enabled: true
      Frame Timeout: 15
      Frames:
        All Enabled: false
        map:
          Value: true
        map_static:
          Value: true
        robot0:
          Value: true
        robot0_laser_0:
          Value: false
        robot1:
          Value: true
        robot1_laser_0:
          Value: true
        world:
          Value: false
      Marker Scale: 1
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: true
      Tree:
        world:
          map:
            map_static:
              robot0:
                robot0_laser_0:
                  {}
              robot1:
                robot1_laser_0:
                  {}
      Update Interval: 0.100000001
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 10
        Min Value: -10
        Value: true
      Axis: Z
      Channel Name: x
      Class: rviz/LaserScan
      Color: 255; 255; 255
      Color Transformer: Intensity
      Decay Time: 0
      Enabled: true
      Invert Rainbow: true
      Max Color: 255; 255; 255
      Max Intensity: 6.37994528
      Min Color: 0; 0; 0
      Min Intensity: 6.37000704
      Name: LaserScan
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.100000001
      Style: Flat Squares
      Topic: /robot0/laser_0
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      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: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 4096
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: LaserScan
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.00999999978
      Style: Flat Squares
      Topic: /robot1/laser_0
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Alpha: 0.699999988
      Class: rviz/Map
      Color Scheme: costmap
      Draw Behind: true
      Enabled: true
      Name: Map
      Topic: /amcl/map
      Unreliable: false
      Use Timestamp: false
      Value: true
    - Alpha: 0.600000024
      Buffer Length: 20
      Class: rviz/Path
      Color: 57; 70; 255
      Enabled: true
      Head Diameter: 0.0299999993
      Head Length: 0.0500000007
      Length: 0.300000012
      Line Style: Lines
      Line Width: 0.0299999993
      Name: Path
      Offset:
        X: 0
        Y: 0
        Z: 0
      Pose Color: 0; 85; 255
      Pose Style: None
      Radius: 0.0299999993
      Shaft Diameter: 0.00999999978
      Shaft Length: 0.0299999993
      Topic: /stdr_move_base/GlobalPlanner/plan
      Unreliable: false
      Value: true
    - Alpha: 0.800000012
      Buffer Length: 20
      Class: rviz/Path
      Color: 250; 232; 28
      Enabled: true
      Head Diameter: 0.0299999993
      Head Length: 0.0299999993
      Length: 0.300000012
      Line Style: Billboards
      Line Width: 0.00499999989
      Name: Path
      Offset:
        X: 0
        Y: 0
        Z: 0
      Pose Color: 250; 232; 28
      Pose Style: None
      Radius: 0.0299999993
      Shaft Diameter: 0.00999999978
      Shaft Length: 0.00999999978
      Topic: /stdr_move_base/DWAPlannerROS/global_plan
      Unreliable: false
      Value: true
    - Alpha: 0.5
      Buffer Length: 1
      Class: rviz/Path
      Color: 255; 23; 112
      Enabled: true
      Head Diameter: 0.300000012
      Head Length: 0.200000003
      Length: 0.300000012
      Line Style: Lines
      Line Width: 0.0299999993
      Name: Path
      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: /stdr_move_base/DWAPlannerROS/local_plan
      Unreliable: false
      Value: true
    - Angle Tolerance: 0.100000001
      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: 0.300000012
          Color: 204; 51; 204
          Scale: 1
          Value: true
        Value: true
      Enabled: true
      Keep: 110
      Name: Odometry
      Position Tolerance: 0.100000001
      Shape:
        Alpha: 0.699999988
        Axes Length: 1
        Axes Radius: 0.100000001
        Color: 206; 255; 206
        Head Length: 0.100000001
        Head Radius: 0.100000001
        Shaft Length: 0.200000003
        Shaft Radius: 0.0500000007
        Value: Arrow
      Topic: /robot0/odom
      Unreliable: false
      Value: true
    - Angle Tolerance: 0.100000001
      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: 0.300000012
          Color: 204; 51; 204
          Scale: 1
          Value: true
        Value: true
      Enabled: true
      Keep: 110
      Name: Odometry
      Position Tolerance: 0.100000001
      Shape:
        Alpha: 0.699999988
        Axes Length: 1
        Axes Radius: 0.100000001
        Color: 255; 25; 0
        Head Length: 0.100000001
        Head Radius: 0.100000001
        Shaft Length: 0.200000003
        Shaft Radius: 0.0500000007
        Value: Arrow
      Topic: /robot1/odom
      Unreliable: false
      Value: true
    - Alpha: 1
      Class: rviz/Polygon
      Color: 255; 24; 105
      Enabled: true
      Name: Polygon
      Topic: /stdr_move_base/local_costmap/footprint
      Unreliable: false
      Value: true
    - Alpha: 0.300000012
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: true
      Name: Map
      Topic: /stdr_move_base/local_costmap/costmap
      Unreliable: false
      Use Timestamp: false
      Value: true
    - Alpha: 0.699999988
      Axes Length: 1
      Axes Radius: 0.100000001
      Class: rviz/Pose
      Color: 239; 76; 35
      Enabled: true
      Head Length: 0.200000003
      Head Radius: 0.200000003
      Name: Pose
      Shaft Length: 0.5
      Shaft Radius: 0.0500000007
      Shape: Arrow
      Topic: /move_base_simple/goal
      Unreliable: false
      Value: true
    - Alpha: 0.400000006
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: true
      Name: Map
      Topic: /stdr_move_base/global_costmap/costmap
      Unreliable: false
      Use Timestamp: false
      Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Default Light: true
    Fixed Frame: map
    Frame Rate: 20
  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: 14.9009829
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.0599999987
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 5.93654203
        Y: 5.89296436
        Z: 0.0228592195
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.0500000007
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.00999999978
      Pitch: 1.51479638
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 4.70319223
    Saved: ~
Window Geometry:
  Displays:
    collapsed: true
  Height: 876
  Hide Left Dock: true
  Hide Right Dock: true
  QMainWindow State: 000000ff00000000fd00000004000000000000016a000002e2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed0000022400000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730000000028000002e2000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002e2000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d00650100000000000006400000030000fffffffb0000000800540069006d0065010000000000000450000000000000000000000640000002e200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 1600
  X: 0
  Y: 24
