Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Marker1
      Splitter Ratio: 0.5
    Tree Height: 451
  - 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: 0.2
      Cell Size: 0.5
      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: 1000
      Reference Frame: <Fixed Frame>
      Value: true
    - Alpha: 1
      Class: rviz/Polygon
      Color: 255; 85; 0
      Enabled: true
      Name: Polygon
      Topic: /robot_1/move_base_node/global_costmap/footprint
      Unreliable: false
      Value: true
    - Alpha: 1
      Class: rviz/Polygon
      Color: 85; 0; 255
      Enabled: true
      Name: Polygon
      Topic: /robot_2/move_base_node/global_costmap/footprint
      Unreliable: false
      Value: true
    - Class: rviz/TF
      Enabled: true
      Frame Timeout: 15
      Frames:
        All Enabled: false
        robot_1/base_footprint:
          Value: true
        robot_1/base_laser_link:
          Value: true
        robot_1/base_link:
          Value: false
        robot_1/caster_back_link:
          Value: false
        robot_1/caster_front_link:
          Value: false
        robot_1/cliff_sensor_front_link:
          Value: false
        robot_1/cliff_sensor_left_link:
          Value: false
        robot_1/cliff_sensor_right_link:
          Value: false
        robot_1/gyro_link:
          Value: false
        robot_1/map:
          Value: true
        robot_1/odom:
          Value: false
        robot_1/wheel_left_link:
          Value: false
        robot_1/wheel_right_link:
          Value: false
        robot_2/base_footprint:
          Value: true
        robot_2/base_laser_link:
          Value: true
        robot_2/base_link:
          Value: false
        robot_2/caster_back_link:
          Value: false
        robot_2/caster_front_link:
          Value: false
        robot_2/cliff_sensor_front_link:
          Value: false
        robot_2/cliff_sensor_left_link:
          Value: false
        robot_2/cliff_sensor_right_link:
          Value: false
        robot_2/gyro_link:
          Value: false
        robot_2/map:
          Value: false
        robot_2/odom:
          Value: false
        robot_2/wheel_left_link:
          Value: false
        robot_2/wheel_right_link:
          Value: false
      Marker Scale: 1
      Name: TF
      Show Arrows: false
      Show Axes: true
      Show Names: false
      Tree:
        robot_1/map:
          robot_1/odom:
            robot_1/base_footprint:
              robot_1/base_link:
                robot_1/base_laser_link:
                  {}
                robot_1/caster_back_link:
                  {}
                robot_1/caster_front_link:
                  {}
                robot_1/cliff_sensor_front_link:
                  {}
                robot_1/cliff_sensor_left_link:
                  {}
                robot_1/cliff_sensor_right_link:
                  {}
                robot_1/gyro_link:
                  {}
                robot_1/wheel_left_link:
                  {}
                robot_1/wheel_right_link:
                  {}
          robot_2/map:
            robot_2/odom:
              robot_2/base_footprint:
                robot_2/base_link:
                  robot_2/base_laser_link:
                    {}
                  robot_2/caster_back_link:
                    {}
                  robot_2/caster_front_link:
                    {}
                  robot_2/cliff_sensor_front_link:
                    {}
                  robot_2/cliff_sensor_left_link:
                    {}
                  robot_2/cliff_sensor_right_link:
                    {}
                  robot_2/gyro_link:
                    {}
                  robot_2/wheel_left_link:
                    {}
                  robot_2/wheel_right_link:
                    {}
      Update Interval: 0
      Value: true
    - Alpha: 1
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: true
      Enabled: true
      Name: Map
      Topic: /map_merge/map
      Unreliable: false
      Value: true
    - Alpha: 0.3
      Class: rviz/Map
      Color Scheme: costmap
      Draw Behind: true
      Enabled: true
      Name: Map
      Topic: /robot_1/move_base_node/local_costmap/costmap
      Unreliable: false
      Value: true
    - Alpha: 0.3
      Class: rviz/Map
      Color Scheme: costmap
      Draw Behind: true
      Enabled: true
      Name: Map
      Topic: /robot_2/move_base_node/local_costmap/costmap
      Unreliable: false
      Value: true
    - Alpha: 1
      Buffer Length: 1
      Class: rviz/Path
      Color: 255; 170; 127
      Enabled: true
      Line Style: Lines
      Line Width: 0.03
      Name: Path
      Offset:
        X: 0
        Y: 0
        Z: 0
      Topic: /robot_1/move_base_node/NavfnROS/plan
      Unreliable: false
      Value: true
    - Alpha: 1
      Buffer Length: 1
      Class: rviz/Path
      Color: 85; 170; 255
      Enabled: true
      Line Style: Lines
      Line Width: 0.03
      Name: Path
      Offset:
        X: 0
        Y: 0
        Z: 0
      Topic: /robot_2/move_base_node/NavfnROS/plan
      Unreliable: false
      Value: true
    - Class: rviz/Marker
      Enabled: true
      Marker Topic: /shapes
      Name: Marker
      Namespaces:
        markers: true
      Queue Size: 100
      Value: true
    - Class: rviz/Marker
      Enabled: true
      Marker Topic: frontiers
      Name: Marker
      Namespaces:
        {}
      Queue Size: 100
      Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Fixed Frame: robot_1/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: 29.4079
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.06
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: -2.74233
        Y: -2.67805
        Z: 1.54115
      Name: Current View
      Near Clip Distance: 0.01
      Pitch: 1.5698
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 4.72541
    Saved: ~
Window Geometry:
  Displays:
    collapsed: true
  Height: 729
  Hide Left Dock: true
  Hide Right Dock: true
  QMainWindow State: 000000ff00000000fd0000000400000000000001bd00000252fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000002800000252000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000252fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000252000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000029b0000003efc0100000002fb0000000800540069006d006501000000000000029b0000026100fffffffb0000000800540069006d006501000000000000045000000000000000000000029b0000025200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 667
  X: 23
  Y: 10
