Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Head Imu1/Box properties1
        - /Head Imu1/Axes properties1
        - /Head Imu1/Acceleration properties1
      Splitter Ratio: 0.5
    Tree Height: 728
  - 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: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: LaserScan
Preferences:
  PromptSaveOnExit: true
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: 0.029999999329447746
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 10
      Reference Frame: <Fixed Frame>
      Value: true
    - Alpha: 0.5
      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_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        camera_bottom_screw_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_color_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_color_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_depth_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_depth_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_infra1_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_infra1_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_infra2_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_infra2_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        laser:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        link_arm_l0:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        link_arm_l1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        link_arm_l2:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        link_arm_l3:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        link_arm_l4:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        link_aruco_inner_wrist:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        link_aruco_left_base:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        link_aruco_right_base:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        link_aruco_shoulder:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        link_aruco_top_wrist:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        link_grasp_center:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        link_gripper:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        link_gripper_finger_left:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        link_gripper_finger_right:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        link_gripper_fingertip_left:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        link_gripper_fingertip_right:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        link_head:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        link_head_pan:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        link_head_tilt:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        link_left_wheel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        link_lift:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        link_mast:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        link_right_wheel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        link_wrist_yaw:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        respeaker_base:
          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
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 1.1299999952316284
        Min Value: -0.017480315640568733
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/PointCloud2
      Color: 255; 255; 255
      Color Transformer: AxisColor
      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: PointCloud2
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.009999999776482582
      Style: Flat Squares
      Topic: /funmap/point_cloud2
      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: false
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 47
      Min Color: 0; 0; 0
      Min Intensity: 47
      Name: LaserScan
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.009999999776482582
      Style: Flat Squares
      Topic: /scan
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: false
    - Alpha: 1
      Axes Length: 1
      Axes Radius: 0.10000000149011612
      Class: rviz/Pose
      Color: 255; 25; 0
      Enabled: false
      Head Length: 0.05000000074505806
      Head Radius: 0.05000000074505806
      Name: Pose
      Shaft Length: 0.20000000298023224
      Shaft Radius: 0.02500000037252903
      Shape: Arrow
      Topic: /sound_localization
      Unreliable: false
      Value: false
    - Class: rviz/MarkerArray
      Enabled: true
      Marker Topic: /funmap/navigation_plan_markers
      Name: MarkerArray
      Namespaces:
        {}
      Queue Size: 100
      Value: true
    - Class: rviz/Marker
      Enabled: false
      Marker Topic: /funmap/voi_marker
      Name: Marker
      Namespaces:
        {}
      Queue Size: 100
      Value: false
    - Class: rviz/Marker
      Enabled: false
      Marker Topic: /frustum_marker/depth_camera
      Name: Marker
      Namespaces:
        {}
      Queue Size: 100
      Value: false
    - Class: rviz/Marker
      Enabled: false
      Marker Topic: /frustum_marker/color_camera
      Name: Marker
      Namespaces:
        {}
      Queue Size: 100
      Value: false
    - Alpha: 0.20000000298023224
      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: RGB8
      Decay Time: 0
      Enabled: false
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 4096
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: PointCloud2
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.004000000189989805
      Style: Flat Squares
      Topic: /camera/depth/color/points
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: false
    - Acceleration properties:
        Acc. vector alpha: 1
        Acc. vector color: 0; 255; 0
        Acc. vector scale: 0.019999999552965164
        Derotate acceleration: false
        Enable acceleration: true
      Axes properties:
        Axes scale: 1
        Enable axes: false
      Box properties:
        Box alpha: 1
        Box color: 255; 0; 0
        Enable box: false
        x_scale: 1
        y_scale: 1
        z_scale: 1
      Class: rviz_imu_plugin/Imu
      Enabled: false
      Name: Head Imu
      Topic: /camera/accel/sample_corrected
      Unreliable: false
      Value: false
      fixed_frame_orientation: false
    - Acceleration properties:
        Acc. vector alpha: 1
        Acc. vector color: 255; 0; 0
        Acc. vector scale: 1
        Derotate acceleration: true
        Enable acceleration: false
      Axes properties:
        Axes scale: 1
        Enable axes: true
      Box properties:
        Box alpha: 1
        Box color: 255; 0; 0
        Enable box: false
        x_scale: 1
        y_scale: 1
        z_scale: 1
      Class: rviz_imu_plugin/Imu
      Enabled: false
      Name: Imu
      Topic: /imu/data
      Unreliable: false
      Value: false
      fixed_frame_orientation: 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: false
      Keep: 1
      Name: Odometry
      Position Tolerance: 0.009999999776482582
      Shape:
        Alpha: 1
        Axes Length: 1
        Axes Radius: 0.10000000149011612
        Color: 255; 25; 0
        Head Length: 0.30000001192092896
        Head Radius: 0.10000000149011612
        Shaft Length: 1
        Shaft Radius: 0.05000000074505806
        Value: Arrow
      Topic: /odometry/filtered
      Unreliable: false
      Value: false
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Default Light: true
    Fixed Frame: 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
      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: 2.7524969577789307
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 0.03590206056833267
        Y: 0.04569293558597565
        Z: 0.6913678646087646
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Pitch: 0.5947966575622559
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 6.266298294067383
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 1025
  Hide Left Dock: false
  Hide Right Dock: false
  QMainWindow State: 000000ff00000000fd0000000400000000000001c200000363fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000363000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005750000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 1853
  X: 67
  Y: 27
