Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /TF1/Frames1
        - /TF1/Tree1
        - /Global Map1/Costmap1
        - /Local Map1/Polygon1
        - /Local Map1/Costmap1
        - /Local Map1/Planner1
        - /Path3
      Splitter Ratio: 0.5
    Tree Height: 844
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
    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: 0.5
      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: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 20
      Reference Frame: <Fixed Frame>
      Value: true
    - Alpha: 1
      Class: rviz/RobotModel
      Collision Enabled: false
      Enabled: true
      Links:
        All Links Enabled: true
        Expand Joint Details: false
        Expand Link Details: false
        Expand Tree: false
        Link Tree Style: Links in Alphabetic Order
        base_footprint:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        base_scan:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        caster_back_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        imu_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        wheel_left_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        wheel_right_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
      Name: RobotModel
      Robot Description: robot_description
      TF Prefix: ""
      Update Interval: 0
      Value: true
      Visual Enabled: true
    - Class: rviz/TF
      Enabled: false
      Frame Timeout: 15
      Frames:
        All Enabled: false
      Marker Scale: 1
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: false
      Tree:
        {}
      Update Interval: 0
      Value: false
    - 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: 0; 255; 0
      Color Transformer: FlatColor
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 13069
      Min Color: 0; 0; 0
      Min Intensity: 28
      Name: LaserScan
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.0300000012
      Style: Flat Squares
      Topic: /scan
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Class: rviz/Image
      Enabled: false
      Image Topic: /raspicam_node/image
      Max Value: 1
      Median window: 5
      Min Value: 0
      Name: Image
      Normalize Range: true
      Queue Size: 2
      Transport Hint: compressed
      Unreliable: false
      Value: false
    - Alpha: 0.699999988
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: true
      Name: Map
      Topic: /map
      Unreliable: false
      Use Timestamp: false
      Value: true
    - Alpha: 1
      Buffer Length: 1
      Class: rviz/Path
      Color: 0; 0; 0
      Enabled: true
      Head Diameter: 0.300000012
      Head Length: 0.200000003
      Length: 0.300000012
      Line Style: Lines
      Line Width: 0.0299999993
      Name: Planner Plan
      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: /move_base/NavfnROS/plan
      Unreliable: false
      Value: true
    - Class: rviz/Group
      Displays:
        - Alpha: 0.699999988
          Class: rviz/Map
          Color Scheme: costmap
          Draw Behind: true
          Enabled: true
          Name: Costmap
          Topic: /move_base/global_costmap/costmap
          Unreliable: false
          Use Timestamp: false
          Value: true
        - Alpha: 1
          Buffer Length: 1
          Class: rviz/Path
          Color: 255; 0; 0
          Enabled: false
          Head Diameter: 0.300000012
          Head Length: 0.200000003
          Length: 0.300000012
          Line Style: Lines
          Line Width: 0.0299999993
          Name: Planner
          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: /move_base/NavfnROS/plan
          Unreliable: false
          Value: false
      Enabled: true
      Name: Global Map
    - Class: rviz/Group
      Displays:
        - Alpha: 1
          Class: rviz/Polygon
          Color: 0; 0; 0
          Enabled: true
          Name: Polygon
          Topic: /move_base/local_costmap/footprint
          Unreliable: false
          Value: true
        - Alpha: 0.699999988
          Class: rviz/Map
          Color Scheme: costmap
          Draw Behind: false
          Enabled: true
          Name: Costmap
          Topic: /move_base/local_costmap/costmap
          Unreliable: false
          Use Timestamp: false
          Value: true
        - Alpha: 1
          Buffer Length: 1
          Class: rviz/Path
          Color: 255; 255; 0
          Enabled: true
          Head Diameter: 0.300000012
          Head Length: 0.200000003
          Length: 0.300000012
          Line Style: Lines
          Line Width: 0.0299999993
          Name: Planner
          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: /move_base/DWAPlannerROS/local_plan
          Unreliable: false
          Value: true
      Enabled: false
      Name: Local Map
    - Alpha: 1
      Arrow Length: 0.0500000007
      Axes Length: 0.300000012
      Axes Radius: 0.00999999978
      Class: rviz/PoseArray
      Color: 0; 192; 0
      Enabled: false
      Head Length: 0.0700000003
      Head Radius: 0.0299999993
      Name: Amcl Particles
      Shaft Length: 0.230000004
      Shaft Radius: 0.00999999978
      Shape: Arrow (Flat)
      Topic: /particlecloud
      Unreliable: false
      Value: false
    - Alpha: 1
      Axes Length: 1
      Axes Radius: 0.100000001
      Class: rviz/Pose
      Color: 255; 25; 0
      Enabled: true
      Head Length: 0.0500000007
      Head Radius: 0.100000001
      Name: Goal
      Shaft Length: 0.0500000007
      Shaft Radius: 0.0500000007
      Shape: Arrow
      Topic: /move_base_simple/goal
      Unreliable: false
      Value: true
    - Alpha: 1
      Buffer Length: 1
      Class: rviz/Path
      Color: 25; 255; 0
      Enabled: true
      Head Diameter: 0.300000012
      Head Length: 0.200000003
      Length: 0.300000012
      Line Style: Billboards
      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: /path_planning_node/cleaning_plan_nodehandle/cleaning_path
      Unreliable: false
      Value: true
    - Alpha: 1
      Buffer Length: 1
      Class: rviz/Path
      Color: 170; 0; 0
      Enabled: true
      Head Diameter: 0.300000012
      Head Length: 0.200000003
      Length: 0.300000012
      Line Style: Billboards
      Line Width: 0.349999994
      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: /clean_robot/passed_path
      Unreliable: false
      Value: true
    - Alpha: 1
      Buffer Length: 1
      Class: rviz/Path
      Color: 255; 255; 127
      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: /move_base/DWAPlannerROS/local_plan
      Unreliable: false
      Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Default Light: true
    Fixed Frame: map
    Frame Rate: 30
  Name: root
  Tools:
    - Class: rviz/MoveCamera
    - Class: rviz/Interact
      Hide Inactive Objects: true
    - Class: rviz/Select
    - Class: rviz/SetInitialPose
      Topic: /initialpose
    - Class: rviz/SetGoal
      Topic: /move_base_simple/goal
    - Class: rviz/Measure
  Value: true
  Views:
    Current:
      Angle: -1.57079637
      Class: rviz/TopDownOrtho
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.0599999987
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.00999999978
      Scale: 156.50177
      Target Frame: <Fixed Frame>
      Value: TopDownOrtho (rviz)
      X: -2.20532393
      Y: -1.97824216
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 1056
  Hide Left Dock: false
  Hide Right Dock: true
  Image:
    collapsed: false
  QMainWindow State: 000000ff00000000fd00000004000000000000016a000003dafc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000003da000000d600fffffffb0000000a0049006d0061006700650000000317000000cc0000001600fffffffb0000000a0049006d0061006700650000000330000000ce0000000000000000000000010000010f000003a0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000043000003a0000000ac00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000005cf000003da00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 1855
  X: 65
  Y: 24