Panels:
  - Class: rviz_common/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Cloud1/Cloud_Deskewed1
        - /Odometry1/Mapping_Odometry1
        - /Odometry1/Mapping_Odometry1/Shape1
        - /Odometry1/DogOdomGlobal1
        - /Map1/Map_Local1
        - /MarkerArray1/Topic1
      Splitter Ratio: 0.32894736528396606
    Tree Height: 787
  - 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
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 1
      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: 250
      Reference Frame: <Fixed Frame>
      Value: true
    - Class: rviz_default_plugins/TF
      Enabled: true
      Frame Timeout: 15
      Frames:
        All Enabled: true
        base_link:
          Value: true
        map:
          Value: true
        odom:
          Value: true
        robot_center:
          Value: true
        rslidar:
          Value: true
      Marker Scale: 1
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: true
      Tree:
        map:
          odom:
            base_link:
              robot_center:
                {}
              rslidar:
                {}
      Update Interval: 0
      Value: true
    - Class: rviz_common/Group
      Displays:
        - Alpha: 1
          Autocompute Intensity Bounds: true
          Autocompute Value Bounds:
            Max Value: 10
            Min Value: -10
            Value: true
          Axis: Z
          Channel Name: intensity
          Class: rviz_default_plugins/PointCloud2
          Color: 0; 255; 0
          Color Transformer: FlatColor
          Decay Time: 0
          Enabled: true
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Max Intensity: 175
          Min Color: 0; 0; 0
          Min Intensity: 1
          Name: Corner
          Position Transformer: XYZ
          Selectable: true
          Size (Pixels): 5
          Size (m): 0.009999999776482582
          Style: Points
          Topic:
            Depth: 5
            Durability Policy: Volatile
            History Policy: Keep Last
            Reliability Policy: Reliable
            Value: /lio_sam_ros2/feature/cloud_corner
          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_default_plugins/PointCloud2
          Color: 255; 85; 255
          Color Transformer: FlatColor
          Decay Time: 0
          Enabled: true
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Max Intensity: 155
          Min Color: 0; 0; 0
          Min Intensity: 1
          Name: Surface
          Position Transformer: XYZ
          Selectable: true
          Size (Pixels): 3
          Size (m): 0.009999999776482582
          Style: Points
          Topic:
            Depth: 5
            Durability Policy: Volatile
            History Policy: Keep Last
            Reliability Policy: Reliable
            Value: /lio_sam_ros2/feature/cloud_surface
          Use Fixed Frame: true
          Use rainbow: true
          Value: true
      Enabled: true
      Name: Feature
    - Class: rviz_common/Group
      Displays:
        - Alpha: 1
          Autocompute Intensity Bounds: true
          Autocompute Value Bounds:
            Max Value: 10
            Min Value: -10
            Value: true
          Axis: Z
          Channel Name: intensity
          Class: rviz_default_plugins/PointCloud2
          Color: 255; 255; 255
          Color Transformer: Intensity
          Decay Time: 0
          Enabled: false
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Max Intensity: 123
          Min Color: 0; 0; 0
          Min Intensity: 0
          Name: notGround_pointCloud
          Position Transformer: XYZ
          Selectable: true
          Size (Pixels): 3
          Size (m): 0.07999999821186066
          Style: Flat Squares
          Topic:
            Depth: 5
            Durability Policy: Volatile
            History Policy: Keep Last
            Reliability Policy: Reliable
            Value: /notGround_pointCloud
          Use Fixed Frame: true
          Use rainbow: true
          Value: false
        - Alpha: 1
          Autocompute Intensity Bounds: true
          Autocompute Value Bounds:
            Max Value: 10
            Min Value: -10
            Value: true
          Axis: Z
          Channel Name: intensity
          Class: rviz_default_plugins/PointCloud2
          Color: 255; 255; 255
          Color Transformer: FlatColor
          Decay Time: 0
          Enabled: true
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Max Intensity: 123
          Min Color: 0; 0; 0
          Min Intensity: 1
          Name: Cloud_Deskewed
          Position Transformer: XYZ
          Selectable: true
          Size (Pixels): 3
          Size (m): 0.009999999776482582
          Style: Flat Squares
          Topic:
            Depth: 5
            Durability Policy: Volatile
            History Policy: Keep Last
            Reliability Policy: Reliable
            Value: /lio_sam_ros2/deskew/cloud_deskewed
          Use Fixed Frame: true
          Use rainbow: true
          Value: true
      Enabled: true
      Name: Cloud
    - Class: rviz_common/Group
      Displays:
        - Angle Tolerance: 0.10000000149011612
          Class: rviz_default_plugins/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: true
          Enabled: false
          Keep: 100
          Name: imu_incremental
          Position Tolerance: 0.10000000149011612
          Shape:
            Alpha: 1
            Axes Length: 0.5
            Axes Radius: 0.10000000149011612
            Color: 255; 25; 0
            Head Length: 0.30000001192092896
            Head Radius: 0.10000000149011612
            Shaft Length: 1
            Shaft Radius: 0.05000000074505806
            Value: Axes
          Topic:
            Depth: 5
            Durability Policy: Volatile
            History Policy: Keep Last
            Reliability Policy: Reliable
            Value: /odometry/imu_incremental
          Value: false
        - Angle Tolerance: 0.10000000149011612
          Class: rviz_default_plugins/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: true
          Enabled: true
          Keep: 300
          Name: Mapping_Odometry
          Position Tolerance: 0.10000000149011612
          Shape:
            Alpha: 1
            Axes Length: 0.5
            Axes Radius: 0.05000000074505806
            Color: 255; 25; 0
            Head Length: 0.30000001192092896
            Head Radius: 0.10000000149011612
            Shaft Length: 1
            Shaft Radius: 0.05000000074505806
            Value: Axes
          Topic:
            Depth: 5
            Durability Policy: Volatile
            History Policy: Keep Last
            Reliability Policy: Reliable
            Value: /lio_sam_ros2/mapping/odometry
          Value: true
        - Angle Tolerance: 0.10000000149011612
          Class: rviz_default_plugins/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: true
          Enabled: true
          Keep: 300
          Name: DogOdomGlobal
          Position Tolerance: 0.10000000149011612
          Shape:
            Alpha: 1
            Axes Length: 0.20000000298023224
            Axes Radius: 0.05000000074505806
            Color: 255; 25; 0
            Head Length: 0.30000001192092896
            Head Radius: 0.10000000149011612
            Shaft Length: 1
            Shaft Radius: 0.05000000074505806
            Value: Axes
          Topic:
            Depth: 5
            Durability Policy: Volatile
            History Policy: Keep Last
            Reliability Policy: Reliable
            Value: /lio_sam_ros2/dogOdomProcess/DogOdomGlobal
          Value: true
      Enabled: true
      Name: Odometry
    - Class: rviz_common/Group
      Displays:
        - Alpha: 1
          Autocompute Intensity Bounds: true
          Autocompute Value Bounds:
            Max Value: 13.437325477600098
            Min Value: -6.8435959815979
            Value: true
          Axis: X
          Channel Name: intensity
          Class: rviz_default_plugins/PointCloud2
          Color: 255; 255; 255
          Color Transformer: AxisColor
          Decay Time: 0
          Enabled: true
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Max Intensity: 168.75
          Min Color: 0; 0; 0
          Min Intensity: 1
          Name: Map_Local
          Position Transformer: XYZ
          Selectable: true
          Size (Pixels): 3
          Size (m): 0.029999999329447746
          Style: Flat Squares
          Topic:
            Depth: 5
            Durability Policy: Volatile
            History Policy: Keep Last
            Reliability Policy: Reliable
            Value: /lio_sam_ros2/mapping/map_local
          Use Fixed Frame: true
          Use rainbow: true
          Value: true
      Enabled: true
      Name: Map
    - Alpha: 1
      Class: rviz_default_plugins/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: false
      Name: Grid_Map
      Topic:
        Depth: 5
        Durability Policy: Volatile
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /mapping/grid_map
      Update Topic:
        Depth: 5
        Durability Policy: Volatile
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /mapping/grid_map_updates
      Use Timestamp: false
      Value: false
    - Class: rviz_default_plugins/MarkerArray
      Enabled: true
      Name: MarkerArray
      Namespaces:
        loop_edges: true
        loop_nodes: true
      Topic:
        Depth: 5
        Durability Policy: Volatile
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /lio_sam_ros2/mapping/loop_closure_constraints
      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
      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/XYOrbit
      Distance: 13.376321792602539
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: -1.9480242729187012
        Y: 1.1255764961242676
        Z: 9.100347961066291e-05
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Pitch: 0.34979575872421265
      Target Frame: <Fixed Frame>
      Value: XYOrbit (rviz_default_plugins)
      Yaw: 0.4173848330974579
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 1016
  Hide Left Dock: false
  Hide Right Dock: false
  QMainWindow State: 000000ff00000000fd0000000400000000000002160000039efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001b500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000039e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000039efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000039e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000051c0000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 1848
  X: 72
  Y: 27