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https://github.com/bjoernellens1/cps_rmp220_support.git
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@ -81,7 +81,7 @@ install(DIRECTORY description
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# Install launch files
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install(DIRECTORY launch
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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FILES_MATCHING PATTERN "*.launch*"
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FILES_MATCHING PATTERN "*.launch"
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)
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# Install world files
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@ -3,6 +3,6 @@
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<launch>
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<!--start rviz view -->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find segwayrmp)/rviz/nav.rviz" />
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find segwayrmp)/rviz/rviz.rviz" />
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</launch>
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333
rviz/rviz.rviz
Normal file
333
rviz/rviz.rviz
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@ -0,0 +1,333 @@
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Panels:
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- Class: rviz/Displays
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Help Height: 104
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /Status1
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- /Map1
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Splitter Ratio: 0.5
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Tree Height: 1436
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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: 0.5886790156364441
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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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Name: Time
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SyncMode: 0
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SyncSource: LaserScan
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Preferences:
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PromptSaveOnExit: true
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Toolbars:
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toolButtonStyle: 0
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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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: 0.029999999329447746
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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: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Class: rviz/TF
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Enabled: true
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Filter (blacklist): ""
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Filter (whitelist): ""
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Frame Timeout: 15
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Frames:
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All Enabled: true
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base_footprint:
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Value: true
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base_link:
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Value: true
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caster_wheel:
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Value: true
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chassis:
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Value: true
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laser:
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Value: true
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left_wheel:
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Value: true
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map:
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Value: true
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odom:
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Value: true
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right_wheel:
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Value: true
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robot_imu:
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Value: true
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Marker Alpha: 1
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Marker Scale: 1
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Name: TF
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Show Arrows: true
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Show Axes: true
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Show Names: true
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Tree:
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map:
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odom:
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base_footprint:
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base_link:
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{}
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chassis:
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caster_wheel:
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{}
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laser:
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{}
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left_wheel:
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{}
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right_wheel:
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{}
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robot_imu:
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{}
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Update Interval: 0
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Value: true
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- Alpha: 1
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Axes Length: 1
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Axes Radius: 0.10000000149011612
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Class: rviz/PoseWithCovariance
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Color: 255; 25; 0
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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: 0.30000001192092896
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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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Head Length: 0.30000001192092896
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Head Radius: 0.10000000149011612
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Name: PoseWithCovariance
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Queue Size: 10
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Shaft Length: 1
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Shaft Radius: 0.05000000074505806
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Shape: Arrow
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Topic: /initialpose
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Unreliable: false
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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: intensity
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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: false
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Max Color: 255; 255; 255
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Min Color: 0; 0; 0
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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): 0.009999999776482582
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Style: Flat Squares
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Topic: /scan_filtered
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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: 0.699999988079071
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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: 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: 1
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Axes Length: 1
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Axes Radius: 0.10000000149011612
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Class: rviz/PoseWithCovariance
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Color: 255; 25; 0
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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: 0.30000001192092896
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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: false
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Head Length: 0.30000001192092896
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Head Radius: 0.10000000149011612
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Name: PoseWithCovariance
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Queue Size: 10
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Shaft Length: 1
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Shaft Radius: 0.05000000074505806
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Shape: Arrow
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Topic: /robot_pose_ekf/odom_combined
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Unreliable: false
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Value: false
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- Alpha: 0.699999988079071
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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: /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: 1
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Axes Length: 1
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Axes Radius: 0.10000000149011612
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Class: rviz/Pose
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Color: 255; 25; 0
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Enabled: true
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Head Length: 0.30000001192092896
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Head Radius: 0.10000000149011612
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Name: Pose
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Queue Size: 10
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Shaft Length: 1
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Shaft Radius: 0.05000000074505806
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Shape: Arrow
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Topic: /move_base/current_goal
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Unreliable: false
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Value: true
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- Alpha: 1
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Class: rviz/PointStamped
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Color: 204; 41; 204
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Enabled: true
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History Length: 1
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Name: PointStamped
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Queue Size: 10
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Radius: 0.20000000298023224
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Topic: /clicked_point
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Unreliable: false
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Value: true
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- Alpha: 1
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Buffer Length: 1
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Class: rviz/Path
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Color: 25; 255; 0
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Enabled: true
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Head Diameter: 0.30000001192092896
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Head Length: 0.20000000298023224
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Length: 0.30000001192092896
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Line Style: Lines
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Line Width: 0.029999999329447746
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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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Queue Size: 10
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Radius: 0.029999999329447746
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Shaft Diameter: 0.10000000149011612
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Shaft Length: 0.10000000149011612
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Topic: /move_base/NavfnROS/plan
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Unreliable: 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: 30
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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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Theta std deviation: 0.2617993950843811
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Topic: /initialpose
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X std deviation: 0.5
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Y std deviation: 0.5
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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: 10
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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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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Field of View: 0.7853981852531433
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Focal Point:
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X: 0
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Y: 0
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Z: 0
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: 0.9753978252410889
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Target Frame: <Fixed Frame>
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Yaw: 0.3253932297229767
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 1812
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Hide Left Dock: false
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Hide Right Dock: true
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QMainWindow State: 000000ff00000000fd00000004000000000000017b00000652fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000008200fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000052000006520000011e00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000011100000652fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000005200000652000000e000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000043800000045fc0100000002fb0000000800540069006d00650100000000000004380000044500fffffffb0000000800540069006d00650100000000000004500000000000000000000002b40000065200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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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: 1080
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X: 0
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Y: 0
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