Panels:
  - Class: rviz_common/Displays
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /TF1
        - /LaserScan1
        - /LaserScan1/Topic1
        - /Odometry1
      Splitter Ratio: 0.5
  - Class: rviz_common/Views
    Name: Views
Visualization Manager:
  Class: ""
  Displays:
    - Class: rviz_default_plugins/Grid
      Name: Grid
      Enabled: true
      Reference Frame: <Fixed Frame>
      Plane Cell Count: 20
      Cell Size: 0.5
      Color: 160; 160; 164
      Line Style:
        Line Width: 0.03
        Value: Lines
      Value: true
    - Class: rviz_default_plugins/TF
      Name: TF
      Enabled: true
      Show Names: true
      Show Axes: true
      Show Arrows: true
      Marker Scale: 0.5
      Update Interval: 0
      Frame Timeout: 15
      Value: true
    - Class: rviz_default_plugins/Map
      Name: Map
      Enabled: true
      Topic:
        Value: /map
        Depth: 1
        Durability Policy: Transient Local
        History Policy: Keep Last
        Reliability Policy: Reliable
      Color Scheme: map
      Draw Behind: true
      Alpha: 0.7
      Value: true
    - Class: rviz_default_plugins/LaserScan
      Name: LaserScan
      Enabled: true
      Topic:
        Value: /scan
        Depth: 5
        Durability Policy: Volatile
        History Policy: Keep Last
        Reliability Policy: Best Effort
        Filter size: 10
      Style: Points
      Size (m): 0.02
      Size (Pixels): 3
      Color Transformer: FlatColor
      Color: 255; 30; 30
      Decay Time: 0
      Position Transformer: XYZ
      Value: true
    - Class: rviz_default_plugins/Odometry
      Name: Odometry
      Enabled: true
      Topic:
        Value: /odom
        Depth: 10
        Durability Policy: Volatile
        History Policy: Keep Last
        Reliability Policy: Reliable
      Keep: 1
      Position Tolerance: 0.05
      Angle Tolerance: 0.05
      Shape:
        Value: Arrow
        Color: 30; 255; 30
        Shaft Length: 0.3
        Shaft Radius: 0.03
        Head Length: 0.1
        Head Radius: 0.06
        Alpha: 1
      Covariance:
        Value: false
      Value: true
    - Class: rviz_default_plugins/MarkerArray
      Name: TaughtPoints
      Enabled: true
      Topic:
        Value: /taught_points
        Depth: 5
        Durability Policy: Volatile
        History Policy: Keep Last
        Reliability Policy: Reliable
      Namespaces: {}
      Value: true
  Global Options:
    Fixed Frame: odom
    Background Color: 48; 48; 48
    Frame Rate: 30
  Tools:
    - Class: rviz_default_plugins/MoveCamera
    - Class: rviz_default_plugins/Select
    - Class: rviz_default_plugins/FocusCamera
    - Class: rviz_default_plugins/Measure
  Views:
    Current:
      Class: rviz_default_plugins/Orbit
      Name: Current View
      Distance: 8
      Focal Point:
        X: 0
        Y: 0
        Z: 0
      Pitch: 1.2
      Yaw: 3.14
      Target Frame: <Fixed Frame>
    Saved: ~
Window Geometry:
  Height: 800
  Width: 1200
  Displays:
    collapsed: false
  Views:
    collapsed: false
