{ "configById": { "3D!18i6zy7": { "layers": { "845139cb-26bc-40b3-8161-8ab60af4baf5": { "visible": true, "frameLocked": true, "label": "Grid", "instanceId": "845139cb-26bc-40b3-8161-8ab60af4baf5", "layerId": "foxglove.Grid", "size": 10, "divisions": 10, "lineWidth": 1, "color": "#248eff", "position": [ 0, 0, 0 ], "rotation": [ 0, 0, 0 ], "order": 1 } }, "cameraState": { "perspective": true, "distance": 7.169718448165846, "phi": 44.39597034624296, "thetaOffset": 110.64544303379736, "targetOffset": [ 1.3652650501689945, -1.8373664023538157, 1.626837553340729e-18 ], "target": [ 0, 0, 0 ], "targetOrientation": [ 0, 0, 0, 1 ], "fovy": 45, "near": 0.5, "far": 5000 }, "followMode": "follow-pose", "scene": {}, "transforms": { "frame:base_link": { "visible": false }, "frame:odom": { "visible": false }, "frame:map": { "visible": false }, "frame:base_footprint": { "visible": false }, "frame:camera_link": { "visible": false }, "frame:chassis": { "visible": false }, "frame:camera_link_optical": { "visible": false }, "frame:caster_wheel": { "visible": false }, "frame:face_link": { "visible": false }, "frame:laser_frame": { "visible": false }, "frame:left_wheel": { "visible": false }, "frame:right_wheel": { "visible": false } }, "topics": { "/initialpose": { "visible": false }, "/move_base_simple/goal": { "visible": false }, "/global_costmap/costmap": { "visible": true, "colorMode": "costmap", "alpha": 0.38, "frameLocked": false }, "/robot_description": { "visible": true }, "/camera/image": { "visible": false }, "/local_costmap/clearing_endpoints": { "visible": true, "colorField": "x", "colorMode": "colormap", "colorMap": "turbo" }, "/local_costmap/costmap": { "visible": false }, "/map": { "visible": true, "colorMode": "map" }, "/scan": { "visible": false, "colorField": "intensity", "colorMode": "colormap", "colorMap": "turbo" }, "/global_costmap/published_footprint": { "visible": false }, "/local_costmap/published_footprint": { "visible": false }, "/plan": { "visible": true } }, "publish": { "type": "pose", "poseTopic": "/goal_pose", "pointTopic": "/clicked_point", "poseEstimateTopic": "/initialpose", "poseEstimateXDeviation": 0.5, "poseEstimateYDeviation": 0.5, "poseEstimateThetaDeviation": 0.26179939 }, "imageMode": {} }, "Image!3mnp456": { "cameraState": { "distance": 20, "perspective": true, "phi": 60, "target": [ 0, 0, 0 ], "targetOffset": [ 0, 0, 0 ], "targetOrientation": [ 0, 0, 0, 1 ], "thetaOffset": 45, "fovy": 45, "near": 0.5, "far": 5000 }, "followMode": "follow-pose", "scene": {}, "transforms": {}, "topics": {}, "layers": {}, "publish": { "type": "point", "poseTopic": "/move_base_simple/goal", "pointTopic": "/clicked_point", "poseEstimateTopic": "/initialpose", "poseEstimateXDeviation": 0.5, "poseEstimateYDeviation": 0.5, "poseEstimateThetaDeviation": 0.26179939 }, "imageMode": { "imageTopic": "/camera/image" } }, "RawMessages!os6rgs": { "diffEnabled": false, "diffMethod": "custom", "diffTopicPath": "", "showFullMessageForDiff": false, "topicPath": "/bms_fb" } }, "globalVariables": {}, "userNodes": {}, "playbackConfig": { "speed": 1 }, "layout": { "first": "3D!18i6zy7", "second": { "first": "Image!3mnp456", "second": "RawMessages!os6rgs", "direction": "column", "splitPercentage": 72.8337236533958 }, "direction": "row", "splitPercentage": 51.57828282828283 } }