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@@ -0,0 +1,389 @@
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+Panels:
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+ - Class: rviz/Displays
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+ Help Height: 78
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+ Name: Displays
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+ Property Tree Widget:
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+ Expanded:
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+ - /Odometry1/Shape1
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+ - /Odometry1/Covariance1
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+ - /Odometry2/Shape1
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+ - /Odometry2/Covariance1
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+ Splitter Ratio: 0.522222221
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+ Tree Height: 595
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+ - Class: rviz/Selection
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+ Name: Selection
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+ - Class: rviz/Tool Properties
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+ Expanded:
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+ - /2D Pose Estimate1
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+ - /2D Nav Goal1
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+ - /Publish Point1
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+ Name: Tool Properties
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+ Splitter Ratio: 0.588679016
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+ - Class: rviz/Views
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+ Expanded:
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+ - /Current View1
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+ Name: Views
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+ Splitter Ratio: 0.5
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+ - Class: rviz/Time
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+ Experimental: false
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+ Name: Time
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+ SyncMode: 0
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+ SyncSource: LaserScan
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+Toolbars:
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+ toolButtonStyle: 2
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+Visualization Manager:
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+ Class: ""
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+ Displays:
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+ - Alpha: 0.400000006
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+ Cell Size: 1
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+ Class: rviz/Grid
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+ Color: 160; 160; 164
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+ Enabled: true
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+ Line Style:
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+ Line Width: 0.0299999993
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+ Value: Lines
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+ Name: Grid
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+ Normal Cell Count: 0
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+ Offset:
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+ X: 5
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+ Y: 5
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+ Z: 0
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+ Plane: XY
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+ Plane Cell Count: 40
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+ Reference Frame: map
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+ Value: true
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+ - Class: rviz/TF
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+ Enabled: true
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+ Frame Timeout: 15
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+ Frames:
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+ All Enabled: false
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+ map:
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+ Value: true
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+ map_static:
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+ Value: true
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+ robot0:
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+ Value: true
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+ robot0_laser_0:
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+ Value: false
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+ robot1:
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+ Value: true
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+ robot1_laser_0:
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+ Value: true
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+ world:
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+ Value: false
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+ Marker Scale: 1
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+ Name: TF
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+ Show Arrows: false
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+ Show Axes: true
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+ Show Names: true
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+ Tree:
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+ world:
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+ map:
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+ map_static:
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+ robot0:
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+ robot0_laser_0:
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+ {}
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+ robot1:
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+ robot1_laser_0:
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+ {}
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+ Update Interval: 0.100000001
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+ Value: true
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+ - Alpha: 1
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+ Autocompute Intensity Bounds: true
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+ Autocompute Value Bounds:
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+ Max Value: 10
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+ Min Value: -10
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+ Value: true
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+ Axis: Z
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+ Channel Name: x
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+ Class: rviz/LaserScan
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+ Color: 255; 255; 255
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+ Color Transformer: Intensity
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+ Decay Time: 0
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+ Enabled: true
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+ Invert Rainbow: true
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+ Max Color: 255; 255; 255
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+ Max Intensity: 2.16938996
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+ Min Color: 0; 0; 0
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+ Min Intensity: 1.74193037
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+ Name: LaserScan
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+ Position Transformer: XYZ
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+ Queue Size: 10
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+ Selectable: true
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+ Size (Pixels): 3
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+ Size (m): 0.100000001
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+ Style: Flat Squares
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+ Topic: /robot0/laser_0
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+ Unreliable: false
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+ Use Fixed Frame: true
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+ Use rainbow: true
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+ Value: true
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+ - Alpha: 1
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+ Arrow Length: 0.100000001
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+ Axes Length: 0.300000012
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+ Axes Radius: 0.00999999978
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+ Class: rviz/PoseArray
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+ Color: 139; 205; 248
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+ Enabled: true
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+ Head Length: 0.0700000003
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+ Head Radius: 0.0299999993
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+ Name: PoseArray
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+ Shaft Length: 0.230000004
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+ Shaft Radius: 0.00999999978
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+ Shape: Arrow (Flat)
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+ Topic: /particlecloud
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+ Unreliable: false
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+ Value: true
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+ - Alpha: 0.699999988
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+ Class: rviz/Map
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+ Color Scheme: costmap
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+ Draw Behind: true
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+ Enabled: true
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+ Name: Map
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+ Topic: /amcl/map
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+ Unreliable: false
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+ Use Timestamp: false
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+ Value: true
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+ - Alpha: 0.600000024
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+ Buffer Length: 20
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+ Class: rviz/Path
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+ Color: 57; 70; 255
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+ Enabled: true
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+ Head Diameter: 0.0299999993
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+ Head Length: 0.0500000007
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+ Length: 0.300000012
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+ Line Style: Lines
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+ Line Width: 0.0299999993
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+ Name: Path
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+ Offset:
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+ X: 0
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+ Y: 0
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+ Z: 0
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+ Pose Color: 0; 85; 255
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+ Pose Style: None
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+ Radius: 0.0299999993
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+ Shaft Diameter: 0.00999999978
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+ Shaft Length: 0.0299999993
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+ Topic: /stdr_move_base/GlobalPlanner/plan
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+ Unreliable: false
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+ Value: true
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+ - Alpha: 0.800000012
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+ Buffer Length: 20
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+ Class: rviz/Path
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+ Color: 250; 232; 28
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+ Enabled: true
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+ Head Diameter: 0.0299999993
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+ Head Length: 0.0299999993
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+ Length: 0.300000012
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+ Line Style: Billboards
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+ Line Width: 0.00499999989
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+ Name: Path
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+ Offset:
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+ X: 0
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+ Y: 0
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+ Z: 0
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+ Pose Color: 250; 232; 28
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+ Pose Style: None
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+ Radius: 0.0299999993
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+ Shaft Diameter: 0.00999999978
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+ Shaft Length: 0.00999999978
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+ Topic: /stdr_move_base/DWAPlannerROS/global_plan
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+ Unreliable: false
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+ Value: true
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+ - Alpha: 0.5
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+ Buffer Length: 1
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+ Class: rviz/Path
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+ Color: 255; 23; 112
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+ Enabled: true
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+ Head Diameter: 0.300000012
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+ Head Length: 0.200000003
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+ Length: 0.300000012
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+ Line Style: Lines
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+ Line Width: 0.0299999993
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+ Name: Path
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+ Offset:
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+ X: 0
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+ Y: 0
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+ Z: 0
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+ Pose Color: 255; 85; 255
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+ Pose Style: None
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+ Radius: 0.0299999993
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+ Shaft Diameter: 0.100000001
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+ Shaft Length: 0.100000001
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+ Topic: /stdr_move_base/DWAPlannerROS/local_plan
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+ Unreliable: false
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+ Value: true
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+ - Angle Tolerance: 0.100000001
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+ Class: rviz/Odometry
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+ Covariance:
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+ Orientation:
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+ Alpha: 0.5
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+ Color: 255; 255; 127
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+ Color Style: Unique
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+ Frame: Local
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+ Offset: 1
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+ Scale: 1
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+ Value: true
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+ Position:
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+ Alpha: 0.300000012
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+ Color: 204; 51; 204
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+ Scale: 1
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+ Value: true
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+ Value: true
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+ Enabled: true
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+ Keep: 110
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+ Name: Odometry
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+ Position Tolerance: 0.100000001
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+ Shape:
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+ Alpha: 0.699999988
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+ Axes Length: 1
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+ Axes Radius: 0.100000001
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+ Color: 206; 255; 206
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+ Head Length: 0.100000001
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+ Head Radius: 0.100000001
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+ Shaft Length: 0.200000003
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+ Shaft Radius: 0.0500000007
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+ Value: Arrow
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+ Topic: /robot0/odom
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+ Unreliable: false
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+ Value: true
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+ - Angle Tolerance: 0.100000001
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+ Class: rviz/Odometry
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+ Covariance:
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+ Orientation:
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+ Alpha: 0.5
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+ Color: 255; 255; 127
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+ Color Style: Unique
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+ Frame: Local
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+ Offset: 1
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+ Scale: 1
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+ Value: true
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+ Position:
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+ Alpha: 0.300000012
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+ Color: 204; 51; 204
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+ Scale: 1
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+ Value: true
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+ Value: true
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+ Enabled: true
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+ Keep: 110
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+ Name: Odometry
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+ Position Tolerance: 0.100000001
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+ Shape:
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+ Alpha: 0.699999988
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+ Axes Length: 1
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+ Axes Radius: 0.100000001
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+ Color: 255; 25; 0
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+ Head Length: 0.100000001
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+ Head Radius: 0.100000001
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+ Shaft Length: 0.200000003
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+ Shaft Radius: 0.0500000007
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+ Value: Arrow
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+ Topic: /robot1/odom
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+ Unreliable: false
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+ Value: true
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+ - Alpha: 1
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+ Class: rviz/Polygon
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+ Color: 255; 24; 105
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+ Enabled: true
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+ Name: Polygon
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+ Topic: /stdr_move_base/local_costmap/footprint
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+ Unreliable: false
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+ Value: true
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+ - Alpha: 0.300000012
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+ Class: rviz/Map
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+ Color Scheme: map
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+ Draw Behind: false
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+ Enabled: true
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+ Name: Map
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+ Topic: /stdr_move_base/local_costmap/costmap
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+ Unreliable: false
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+ Use Timestamp: false
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+ Value: true
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+ - Alpha: 0.699999988
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+ Axes Length: 1
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+ Axes Radius: 0.100000001
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+ Class: rviz/Pose
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+ Color: 239; 76; 35
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+ Enabled: true
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+ Head Length: 0.200000003
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+ Head Radius: 0.200000003
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+ Name: Pose
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+ Shaft Length: 0.5
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+ Shaft Radius: 0.0500000007
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+ Shape: Arrow
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+ Topic: /move_base_simple/goal
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+ Unreliable: false
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+ Value: true
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+ - Alpha: 0.400000006
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+ Class: rviz/Map
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+ Color Scheme: map
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+ Draw Behind: false
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+ Enabled: true
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+ Name: Map
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+ Topic: /stdr_move_base/global_costmap/costmap
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+ Unreliable: false
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+ Use Timestamp: false
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+ Value: true
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+ Enabled: true
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+ Global Options:
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+ Background Color: 48; 48; 48
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+ Default Light: true
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+ Fixed Frame: map
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+ Frame Rate: 20
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+ Name: root
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+ Tools:
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+ - Class: rviz/Interact
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+ Hide Inactive Objects: true
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+ - Class: rviz/MoveCamera
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+ - Class: rviz/Select
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+ - Class: rviz/FocusCamera
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+ - Class: rviz/Measure
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+ - Class: rviz/SetInitialPose
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+ Topic: /initialpose
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+ - Class: rviz/SetGoal
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+ Topic: /move_base_simple/goal
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+ - Class: rviz/PublishPoint
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+ Single click: true
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+ Topic: /clicked_point
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+ Value: true
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+ Views:
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+ Current:
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+ Class: rviz/Orbit
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+ Distance: 22.6343079
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+ Enable Stereo Rendering:
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+ Stereo Eye Separation: 0.0599999987
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+ Stereo Focal Distance: 1
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+ Swap Stereo Eyes: false
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+ Value: false
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+ Focal Point:
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+ X: -1.8066324
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+ Y: -1.07674348
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+ Z: -1.4573499
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+ Focal Shape Fixed Size: true
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+ Focal Shape Size: 0.0500000007
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+ Invert Z Axis: false
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+ Name: Current View
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+ Near Clip Distance: 0.00999999978
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+ Pitch: 1.32979989
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+ Target Frame: <Fixed Frame>
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+ Value: Orbit (rviz)
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+ Yaw: 4.83319378
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+ Saved: ~
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+Window Geometry:
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+ Displays:
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+ collapsed: true
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+ Height: 876
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+ Hide Left Dock: true
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+ Hide Right Dock: true
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+ QMainWindow State: 000000ff00000000fd00000004000000000000016a000002e2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed0000022400000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730000000028000002e2000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002e2000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d00650100000000000006400000030000fffffffb0000000800540069006d0065010000000000000450000000000000000000000640000002e200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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+ Selection:
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+ collapsed: false
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+ Time:
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+ collapsed: false
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+ Tool Properties:
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+ collapsed: false
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+ Views:
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+ collapsed: true
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+ Width: 1600
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+ X: 0
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+ Y: 24
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