Panels:
  - Class: rviz/Displays
    Help Height: 0
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Odometry1/Shape1
        - /Keyframes1/Shape1
        - /Map1/Autocompute Value Bounds1
        - /PointCloud21
      Splitter Ratio: 0.6235294342041016
    Tree Height: 890
  - 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: 0.4960629940032959
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: Map
Preferences:
  PromptSaveOnExit: true
Toolbars:
  toolButtonStyle: 2
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.25
      Cell Size: 1
      Class: rviz/Grid
      Color: 100; 100; 100
      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: 1000
      Reference Frame: robot/odom
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 6.261447906494141
        Min Value: -0.6103848814964294
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/PointCloud2
      Color: 255; 255; 255
      Color Transformer: Intensity
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Min Color: 0; 0; 0
      Name: LiDAR
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 2
      Size (m): 0.009999999776482582
      Style: Points
      Topic: /robot/lidar
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Angle Tolerance: 0.009999999776482582
      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: false
      Enabled: true
      Keep: 1
      Name: Odometry
      Position Tolerance: 0.009999999776482582
      Queue Size: 1000
      Shape:
        Alpha: 1
        Axes Length: 1
        Axes Radius: 0.25
        Color: 255; 25; 0
        Head Length: 0.30000001192092896
        Head Radius: 0.10000000149011612
        Shaft Length: 1
        Shaft Radius: 0.05000000074505806
        Value: Axes
      Topic: /robot/dlo/odom_node/odom
      Unreliable: false
      Value: true
    - 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: false
      Enabled: true
      Keep: 1000
      Name: Keyframes
      Position Tolerance: 0.10000000149011612
      Queue Size: 1000
      Shape:
        Alpha: 1
        Axes Length: 1
        Axes Radius: 0.20000000298023224
        Color: 255; 25; 0
        Head Length: 0.30000001192092896
        Head Radius: 0.10000000149011612
        Shaft Length: 1
        Shaft Radius: 0.05000000074505806
        Value: Axes
      Topic: /robot/dlo/odom_node/odom/keyframe
      Unreliable: false
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 6
        Min Value: 0
        Value: false
      Axis: Z
      Channel Name: intensity
      Class: rviz/PointCloud2
      Color: 0; 0; 128
      Color Transformer: AxisColor
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Min Color: 0; 0; 0
      Name: Map
      Position Transformer: XYZ
      Queue Size: 1000
      Selectable: true
      Size (Pixels): 2
      Size (m): 0.05000000074505806
      Style: Points
      Topic: /robot/dlo/map_node/map
      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/PointCloud2
      Color: 255; 255; 255
      Color Transformer: Intensity
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Min Color: 0; 0; 0
      Name: PointCloud2
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 1
      Size (m): 0.009999999776482582
      Style: Points
      Topic: /robot/rslidar_points
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
  Enabled: true
  Global Options:
    Background Color: 64; 64; 64
    Default Light: true
    Fixed Frame: robot/odom
    Frame Rate: 60
  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: 177.34263610839844
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Field of View: 0.7853981852531433
      Focal Point:
        X: 165.5478057861328
        Y: 20.084718704223633
        Z: 2.6205482482910156
      Focal Shape Fixed Size: false
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Pitch: 1.0797967910766602
      Target Frame: robot/base_link
      Yaw: 1.4836070537567139
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 1053
  Hide Left Dock: false
  Hide Right Dock: true
  QMainWindow State: 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
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 1848
  X: 62
  Y: 0