initial commit

README.md

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+# my_ros2_docker_image
+
+Following this you will be able to do multiplatform builds with docker buildx.
+For the build with docker buildx you will need binfmt dependencies for arm64 architecture, as we are doing a multiplatform build (Works on PCs as well as Jetson Nano, Raspberry Pi, Apple Silicon Devices).
+
+## What you will want to change:
+### my.repos and my_extended.repos:
+These are yaml files containing the repositories you may want to include into your final ros2 workspace.
+For a multi-stage build for instance, I define my base image repositories in "my.repos" and the extended image repositories in "my_extended.repos"
+
+## To build the image for example_service (and push it to your container registry):
+docker buildx bake example_service --load
+docker buildx bake example_service --push
+
+## To run example_service:
+docker compose up -d example_service

dependencies.amd64.repos

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+repositories:
+
+  # CPS RMP lite 220 Dependencies
+  
+  segwayrmp:
+    type: git
+    url: https://github.com/bjoernellens1/segwayrmp
+    version: humble
+  
+  segway_msgs:
+    type: git
+    url: https://github.com/bjoernellens1/segway_msgs
+    version: main
+
+  RPlidar_ROS2:
+    type: git
+    url: https://github.com/bjoernellens1/sllidar_ros2
+    version: main
+
+  rmp220_teleop:
+    type: git
+    url: https://github.com/bjoernellens1/rmp220_teleop.git
+    version: main
+
+  rmp220_middleware:
+    type: git
+    url: https://github.com/bjoernellens1/rmp220_middleware.git
+    version: main

dependencies.arm64.repos

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+repositories:
+
+  # CPS RMP lite 220 Dependencies
+  
+  segwayrmp:
+    type: git
+    url: https://github.com/bjoernellens1/segwayrmp
+    version: humble-arm64
+  
+  segway_msgs:
+    type: git
+    url: https://github.com/bjoernellens1/segway_msgs
+    version: main
+
+  RPlidar_ROS2:
+    type: git
+    url: https://github.com/bjoernellens1/sllidar_ros2
+    version: main
+
+  rmp220_teleop:
+    type: git
+    url: https://github.com/bjoernellens1/rmp220_teleop.git
+    version: main
+  
+  rmp220_middleware:
+    type: git
+    url: https://github.com/bjoernellens1/rmp220_middleware.git
+    version: main

docker-compose.yaml

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+version: "3.9"
+
+services: # in docker compose, service are definitions of your docker containers
+  # Base image containing dependencies for example the robot controller
+  base:
+    image: ghcr.io/bjoernellens1/ros2_rmp/rmp:base # this will be the output image tag
+    build:
+      context: .
+      dockerfile: docker/Dockerfile # the Dockerfilespeciefies the steps taken in the build process.
+      args:
+        ROS_DISTRO: humble
+      target: base # here you specify the build target in the Dockerfile
+      x-bake:
+        platforms:
+          #- linux/arm64 uncomment if arm64 platform is needed (like jetson nano or raspberry pi)
+          - linux/amd64
+
+    # Interactive shell enable
+    stdin_open: true
+    tty: true
+    # Networking and IPC for ROS 2 
+    network_mode: host # host networking makes life easier
+    ipc: host # --> faster communications between containers
+    
+    # Needed to display graphical applications
+    privileged: true # also needed for hardware access like joystick, cameras...
+    environment:
+      # Allows graphical programs in the container.
+      - DISPLAY=${DISPLAY}
+      - QT_X11_NO_MITSHM=1
+      - NVIDIA_DRIVER_CAPABILITIES=all
+    volumes:
+      # Allows graphical programs in the container.
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
+    devices: # all devices you may need inside the docker container (for instance I needed a joystick here)
+      - /dev/input/js0:/dev/input/js0 # mapping in docker is always host_path:container_path
+
+  # Overlay image containing the extended project packages. For instance Mapping, Navigation which may run on a separate PC, so I divided that from the base image.
+  overlay:
+    extends: base # this means you take the base image as reference and run your service on top of that
+    image: ghcr.io/bjoernellens1/ros2_rmp/rmp:overlay
+    build:
+      context: .
+      dockerfile: docker/Dockerfile
+      tags:
+        - ghcr.io/bjoernellens1/ros2_rmp/rmp:overlay
+      target: overlay
+      x-bake:
+        platforms:
+          #- linux/arm64 uncomment if arm64 platform is needed (like jetson nano or raspberry pi)
+          - linux/amd64
+    volumes:
+      - .:/repo
+    command: >
+      /bin/bash
+
+  # Additional dependencies for GUI applications: For my configuration, this last (biggest size) image will house the additional GUI tools like rviz2, gazebo, etc. This comes last as this extends the previous images. Won't be needed running on the robot. More suited for visualization, analysis or control on a separate PC.
+  guis:
+    extends: overlay
+    image: ghcr.io/bjoernellens1/ros2_rmp/rmp:guis
+    build:
+      context: .
+      dockerfile: docker/Dockerfile
+      tags:
+        - ghcr.io/bjoernellens1/ros2_rmp/rmp:guis
+      target: guis
+      x-bake:
+        platforms:
+          #- linux/arm64 uncomment if arm64 platform is needed (like jetson nano or raspberry pi)
+          - linux/amd64
+    #entrypoint: /bin/bash
+    command: >
+      /bin/bash
+  
+  # The following service definitions do not include build instructions as they do not require additional content in the images. Meaning, if you already have the image locally, everything's fine. If you don't have the image locally, docker compose will download the image from the image registry for you. If docker compose does not have access to the image registry, it will build the corresponding image for you (so better make sur you have access).
+# You can see these service definitions as an easy way to spin up separate containers for launching separate tasks. I use this to control the current operational mode of the robot (mapping or navigation an localization). In the end it's just spinning up launch files in separate containers.
+
+  # Robot State Publisher
+  rsp:
+    extends: overlay
+    command: >
+      ros2 launch cps_rmp220_support rsp.launch.py
+    stdin_open: true
+    tty: true
+    # Networking and IPC for ROS 2
+    network_mode: host
+    ipc: host
+    environment:
+    - ROS_DOMAIN_ID=5
+
+  # Controller
+  controller:
+    extends: base 
+    command: >
+      ros2 run segwayrmp SmartCar --ros-args -r cmd_vel:=cmd_vel_out -p serial_full_name:=/dev/ttyUSB0
+    devices:
+      - /dev/ttyUSB0:/dev/ttyUSB0
+    # Interactive shell
+    stdin_open: true
+    tty: true
+    # Networking and IPC for ROS 2
+    network_mode: host
+    ipc: host
+    # Needed to display graphical applications
+    privileged: true
+    # depends_on:
+    #   - robot_state_publisher
+    environment:
+    - ROS_DOMAIN_ID=5
+    restart: unless-stopped
+
+  # teleop
+  teleop:
+    extends: base 
+    command: >
+      ros2 launch rmp220_teleop robot_joystick.launch.py 
+    devices:
+      - /dev/input/js0:/dev/input/js0
+    # Interactive shell
+    stdin_open: true
+    tty: true
+    # Networking and IPC for ROS 2
+    network_mode: host
+    ipc: host
+    # Needed to display graphical applications
+    privileged: true
+    environment:
+    - ROS_DOMAIN_ID=5
+
+  # lidar
+  lidar:
+    extends: overlay
+    command: >
+      ros2 launch cps_rmp220_support robot_lidar.launch.py serial_port:=/dev/ttyUSB0
+
+    stdin_open: true
+    tty: true
+    # Networking and IPC for ROS 2
+    network_mode: host
+    ipc: host
+    # depends_on:
+    #   - robot_state_publisher
+    environment:
+    - ROS_DOMAIN_ID=5
+    devices:
+      - /dev/ttyUSB1:/dev/ttyUSB1
+      - /dev/ttyUSB0:/dev/ttyUSB0
+
+  # localiaztion by ekf node
+  ekf:
+    extends: overlay
+    command: >
+      ros2 launch cps_rmp220_support robot_localization.launch.py
+    # Interactive shell
+    stdin_open: true
+    tty: true
+    # Networking and IPC for ROS 2
+    network_mode: host
+    ipc: host
+    environment:
+    - ROS_DOMAIN_ID=5
+
+  # mapping
+  mapping:
+    extends: overlay
+    command: >
+      ros2 launch cps_rmp220_support robot_mapping.launch.py
+    # Interactive shell
+    stdin_open: true
+    tty: true
+    # Networking and IPC for ROS 2
+    network_mode: host
+    ipc: host
+    environment:
+    - ROS_DOMAIN_ID=5
+
+  # slam_localization
+  localization:
+    extends: overlay
+    command: >
+      ros2 launch cps_rmp220_support robot_mapping_localization.launch.py map_file_name:=/repo/maps/map.yaml
+    # Interactive shell
+    stdin_open: true
+    tty: true
+    # Networking and IPC for ROS 2
+    network_mode: host
+    ipc: host
+    environment:
+    - ROS_DOMAIN_ID=5
+
+  # amcl_localization
+  amcl:
+    extends: overlay
+    command: >
+      ros2 launch cps_rmp220_support robot_amcl.launch.py map:=/repo/maps/map.yaml
+    # Interactive shell
+    stdin_open: true
+    tty: true
+    # Networking and IPC for ROS 2
+    network_mode: host
+    ipc: host
+    environment:
+    - ROS_DOMAIN_ID=5
+
+  # navigation
+  navigation:
+    extends: overlay
+    command: >
+      ros2 launch cps_rmp220_support robot_navigation.launch.py
+      map_subscribe_transient_local:=true
+    stdin_open: true
+    tty: true
+    # Networking and IPC for ROS 2
+    network_mode: host
+    ipc: host
+    environment:
+    - ROS_DOMAIN_ID=5
+  
+  # bash
+  bash:
+    extends: overlay
+    command: >
+      /bin/bash
+    stdin_open: true
+    tty: true
+    # Networking and IPC for ROS 2
+    network_mode: host
+    ipc: host
+    devices:
+      - /dev/input/js0:/dev/input/js0
+    environment:
+    - ROS_DOMAIN_ID=5
+
+  # rviz2
+  rviz2:
+    extends: guis
+    # command: >
+    #   ros2 launch cps_rmp220_support robot_rviz2.launch.py
+    command: >
+      ros2 launch cps_rmp220_support rviz.launch.py
+    # Interactive shell
+    stdin_open: true
+    tty: true
+    # Networking and IPC for ROS 2
+    network_mode: host
+    ipc: host
+    # Needed to display graphical applications
+    privileged: true
+    environment:
+      # Allows graphical programs in the container.
+      - DISPLAY=${DISPLAY}
+      - QT_X11_NO_MITSHM=1
+      - NVIDIA_DRIVER_CAPABILITIES=all
+      - ROS_DOMAIN_ID=5
+    volumes:
+      # Allows graphical programs in the container.
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority

docker/Dockerfile

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+ARG ROS_DISTRO=humble
+ARG UNDERLAY_WS=/rmp_ws
+ARG TARGETPLATFORM
+
+
+# This file should work for both amd64 and arm64 builds. Because segway did not release some source code we must copy some binaries for the specific architectures.
+# That is why we must use some conditional statements to copy over the correct files during build process.
+# Variable TARGETPLATFORM should be auomatically created during build process by docker.
+
+########################################
+# Base Image for Bot Mini Control #
+########################################
+FROM ros:${ROS_DISTRO} as base
+ENV ROS_DISTRO=${ROS_DISTRO}
+#ENV TARGETPLATFORM=$TARGETPLATFORM
+
+SHELL ["/bin/bash", "-c"]
+
+# Create Colcon workspace with external dependencies
+RUN mkdir -p /rmp_ws/src
+WORKDIR /rmp_ws/src
+COPY dependencies.arm64.repos .
+COPY dependencies.amd64.repos .
+
+# Choose correct sources for architecture:
+# Copy platform-specific files
+# Use if condition to copy different files for different platforms
+#RUN echo "TARGETPLATFORM is $TARGETPLATFORM"
+RUN echo "Hardware platform is: $(uname -m)"
+RUN uname -a
+
+RUN echo "update base 23.08.2023"
+
+RUN if [ "$(uname -m)" = "x86_64" ]; then \
+  echo "Copying files for linux/amd64"; \
+  mv dependencies.amd64.repos dependencies.repos; \
+  else \
+  echo "Copying files for linux/arm64"; \
+  mv dependencies.arm64.repos dependencies.repos; \
+  fi
+
+#RUN vcs import < dependencies.repos
+RUN vcs import < dependencies.repos;
+
+# Build the base Colcon workspace, installing dependencies first.
+WORKDIR /rmp_ws
+RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
+  && apt-get update -y \
+  && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y
+
+RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
+  && colcon build --symlink-install
+
+# Use Cyclone DDS as middleware and install xacro
+RUN apt-get update && apt-get install -y --no-install-recommends \
+  ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
+  ros-${ROS_DISTRO}-xacro \
+  && rm -rf /var/lib/apt/lists/*
+
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+ENV UNDERLAY_WS=${UNDERLAY_WS}
+
+# Set up the entrypoint
+COPY ./docker/entrypoint.sh /
+RUN chmod +x /entrypoint.sh
+
+ENTRYPOINT [ "/entrypoint.sh" ]
+
+###########################################
+# Overlay Image for RMP Control #
+###########################################
+FROM base AS overlay
+
+# Create an overlay Colcon workspace
+RUN mkdir -p /overlay_ws/src
+WORKDIR /overlay_ws/src
+COPY overlay.repos .
+RUN vcs import < overlay.repos
+
+WORKDIR /overlay_ws
+
+RUN echo "update overlay 22.08.2023"
+
+RUN source /rmp_ws/install/setup.bash \
+  && apt-get update \
+  && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN source /rmp_ws/install/setup.bash \
+  && colcon build --symlink-install
+
+# Set up the entrypoint
+COPY ./docker/entrypoint.sh /
+RUN chmod +x /entrypoint.sh
+
+ENTRYPOINT [ "/entrypoint.sh" ]
+
+###########################################
+# GUI Additions for Ros2 #
+###########################################
+FROM overlay AS guis
+
+# Install additional GUI tools
+RUN source /rmp_ws/install/setup.bash \
+  && apt-get update \
+  && apt-get install -y --no-install-recommends ros-${ROS_DISTRO}-rviz2 \
+  && rm -rf /var/lib/apt/lists/*
+
+# Set up the entrypoint
+ENTRYPOINT [ "/entrypoint.sh" ]
+
+LABEL org.opencontainers.image.source=https://github.com/bjoernellens1/ros2_rmp

docker/Dockerfile.amd64

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+ARG ROS_DISTRO=humble
+ARG UNDERLAY_WS=/rmp_ws
+ 
+########################################
+# Base Image for Bot Mini Control #
+########################################
+FROM osrf/ros:${ROS_DISTRO}-desktop as base
+ENV ROS_DISTRO=${ROS_DISTRO}
+SHELL ["/bin/bash", "-c"]
+ 
+# Create Colcon workspace with external dependencies
+RUN mkdir -p /rmp_ws/src
+WORKDIR /rmp_ws/src
+COPY dependencies.repos .
+RUN vcs import < dependencies.amd64.repos
+ 
+# Build the base Colcon workspace, installing dependencies first.
+WORKDIR /rmp_ws
+RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
+ && apt-get update -y \
+ && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
+ && colcon build --symlink-install
+
+# Use Cyclone DDS as middleware
+RUN apt-get update && apt-get install -y --no-install-recommends \
+ ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+ENV UNDERLAY_WS=${UNDERLAY_WS}
+
+###########################################
+# Overlay Image for Bot Mini Control #
+###########################################
+FROM base AS overlay
+ 
+# Create an overlay Colcon workspace
+RUN mkdir -p /overlay_ws/src
+WORKDIR /overlay_ws/src
+
+RUN echo "Dummy step"
+COPY overlay.repos .
+RUN vcs import < overlay.repos
+
+WORKDIR /overlay_ws
+# COPY ./tb3_autonomy/ ./src/tb3_autonomy/
+# COPY ./tb3_worlds/ ./src/tb3_worlds/
+RUN source /rmp_ws/install/setup.bash \
+ && colcon build --symlink-install \
+ && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y
+
+# Set up the entrypoint
+COPY ./docker/entrypoint.sh /
+RUN chmod +x /entrypoint.sh
+
+COPY ./controller_startup.sh /
+RUN chmod +x /controller_startup.sh
+
+COPY ./localization_startup.sh /
+RUN chmod +x /localization_startup.sh
+
+ENTRYPOINT [ "/entrypoint.sh" ]

docker/Dockerfile.arm64

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+ARG ROS_DISTRO=humble
+ARG UNDERLAY_WS=/rmp_ws
+ 
+########################################
+# Base Image for Bot Mini Control #
+########################################
+#FROM --platform=linux/arm64 ros:${ROS_DISTRO} as base
+FROM ros:${ROS_DISTRO} as base
+ENV ROS_DISTRO=${ROS_DISTRO}
+SHELL ["/bin/bash", "-c"]
+ 
+# Create Colcon workspace with external dependencies
+RUN mkdir -p /rmp_ws/src
+WORKDIR /rmp_ws/src
+COPY dependencies.repos .
+RUN vcs import < dependencies.arm64.repos
+ 
+# Build the base Colcon workspace, installing dependencies first.
+WORKDIR /rmp_ws
+RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
+ && apt-get update -y \
+ && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
+ && colcon build --symlink-install
+
+# Use Cyclone DDS as middleware
+RUN apt-get update && apt-get install -y --no-install-recommends \
+ ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+ENV UNDERLAY_WS=${UNDERLAY_WS}
+
+###########################################
+# Overlay Image for Bot Mini Control #
+###########################################
+FROM base AS overlay
+ 
+# Create an overlay Colcon workspace
+RUN mkdir -p /overlay_ws/src
+WORKDIR /overlay_ws/src
+
+RUN echo "Dummy step"
+COPY overlay.repos .
+RUN vcs import < overlay.repos
+
+WORKDIR /overlay_ws
+# COPY ./tb3_autonomy/ ./src/tb3_autonomy/
+# COPY ./tb3_worlds/ ./src/tb3_worlds/
+RUN source /rmp_ws/install/setup.bash \
+ && colcon build --symlink-install \
+ && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y
+
+# Set up the entrypoint
+COPY ./docker/entrypoint.sh /
+RUN chmod +x /entrypoint.sh
+
+COPY ./controller_startup.sh /
+RUN chmod +x /controller_startup.sh
+
+COPY ./localization_startup.sh /
+RUN chmod +x /localization_startup.sh
+
+ENTRYPOINT [ "/entrypoint.sh" ]

docker/entrypoint.sh

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+#!/bin/bash
+# Basic entrypoint for ROS / Colcon Docker containers
+
+UNDERLAY_WS=/rmp_ws
+
+# Source ROS 2
+source /opt/ros/${ROS_DISTRO}/setup.bash
+echo "Sourced ROS 2 ${ROS_DISTRO}"
+
+# Source the base workspace, if built
+if [ -f ${UNDERLAY_WS}/install/setup.bash ]
+then
+  source ${UNDERLAY_WS}/install/setup.bash
+  #export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(ros2 pkg prefix turtlebot3_gazebo)/share/turtlebot3_gazebo/models
+  echo "Sourced CPS RMP 220 base workspace"
+fi
+
+# Source the overlay workspace, if built
+if [ -f /overlay_ws/install/setup.bash ]
+then
+  source /overlay_ws/install/setup.bash
+  #export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(ros2 pkg prefix tb3_worlds)/share/tb3_worlds/models
+  echo "Sourced CPS RMP 220 Overlay workspace"
+fi
+
+# Execute the command passed into this entrypoint
+exec "$@"

init_repo.sh

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+#!/bin/bash
+# Basic entrypoint for ROS / Colcon Docker containers
+
+# Source ROS 2
+source /opt/ros/${ROS_DISTRO}/setup.bash
+echo "Sourced ROS 2 ${ROS_DISTRO}"
+
+# Source the base workspace, if built
+if [ -f ${UNDERLAY_WS}/install/setup.bash ]
+then
+  source ${UNDERLAY_WS}/install/setup.bash
+  #export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(ros2 pkg prefix turtlebot3_gazebo)/share/turtlebot3_gazebo/models
+  echo "Sourced Bot Mini base workspace"
+fi
+
+# Source the overlay workspace, if built
+if [ -f /overlay_ws/install/setup.bash ]
+then
+  source /overlay_ws/install/setup.bash
+  #export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(ros2 pkg prefix tb3_worlds)/share/tb3_worlds/models
+  echo "Sourced Bot Mini overlay workspace"
+fi
+
+# Copy over files
+cp -r /overlay_ws/src/* /repo/src/
+
+wait

install_portainer.sh

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+#!/bin/bash
+docker volume create portainer_data
+docker run -d -p 8000:8000 -p 9443:9443 --name portainer --restart=always -v /var/run/docker.sock:/var/run/docker.sock -v portainer_data:/data portainer/portainer-ce:latest

overlay.repos

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+repositories:  
+  
+  cps_rmp220_support:
+    type: git
+    url: https://github.com/bjoernellens1/cps_rmp220_support.git
+    version: main
+
+  cam_openCV:
+    type: git
+    url: https://github.com/bjoernellens1/ros2_cam_openCV.git
+    version: main

test.rviz

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+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 85
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 528
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/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
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 10
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.785398006439209
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.785398006439209
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 845
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000015a000002a6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006b00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000044000002a6000000eb00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002a6fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000044000002a6000000b900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004af0000003efc0100000002fb0000000800540069006d00650100000000000004af000002d200fffffffb0000000800540069006d0065010000000000000450000000000000000000000238000002a600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1199
+  X: 199
+  Y: 115