Panels:
  - Class: rviz_common/Displays
    Help Height: 0
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Status1
        - /Axes1
        - /mapping1
        - /mapping1/currPoints1
        - /mapping1/surround1
        - /mapping1/surround1/Autocompute Value Bounds1
        - /mapping1/PointCloud21
        - /Odometry1
        - /Odometry1/Odometry1
        - /Odometry1/Odometry1/Shape1
        - /Path1
        - /currPoints1/Autocompute Value Bounds1
        - /MarkerArray1/Namespaces1
        - /currPoints2/Autocompute Value Bounds1
        - /Odometry2/Shape1
        - /MarkerArray3
        - /MarkerArray4
        - /MarkerArray5
        - /Image1
      Splitter Ratio: 0.34272301197052
    Tree Height: 538
  - Class: rviz_common/Selection
    Name: Selection
  - Class: rviz_common/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /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
    Name: Time
    SyncMode: 0
    SyncSource: surround
Preferences:
  PromptSaveOnExit: true
Toolbars:
  toolButtonStyle: 2
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 1
      Cell Size: 1
      Class: rviz_default_plugins/Grid
      Color: 160; 160; 164
      Enabled: false
      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: 160
      Reference Frame: <Fixed Frame>
      Value: false
    - Alpha: 1
      Class: rviz_default_plugins/Axes
      Enabled: true
      Length: 4
      Name: Axes
      Radius: 1.2000000476837158
      Reference Frame: <Fixed Frame>
      Show Trail: false
      Value: true
    - Class: rviz_common/Group
      Displays:
        - Alpha: 1
          Autocompute Intensity Bounds: true
          Autocompute Value Bounds:
            Max Value: 20
            Min Value: -3
            Value: false
          Axis: Z
          Channel Name: intensity
          Class: rviz_default_plugins/PointCloud2
          Color: 199; 228; 247
          Color Transformer: FlatColor
          Decay Time: 0
          Enabled: true
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Min Color: 0; 0; 0
          Name: currPoints
          Position Transformer: XYZ
          Queue Size: 100000
          Selectable: true
          Size (Pixels): 2
          Size (m): 0.009999999776482582
          Style: Points
          Topic: /cloud_registered
          Unreliable: false
          Use Fixed Frame: true
          Use rainbow: false
          Value: true
        - Alpha: 0.5
          Autocompute Intensity Bounds: false
          Autocompute Value Bounds:
            Max Value: 15
            Min Value: -5
            Value: false
          Axis: Z
          Channel Name: intensity
          Class: rviz_default_plugins/PointCloud2
          Color: 238; 238; 236
          Color Transformer: RGB8
          Decay Time: 10000
          Enabled: true
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Max Intensity: 159
          Min Color: 0; 0; 0
          Min Intensity: 5
          Name: surround
          Position Transformer: XYZ
          Queue Size: 1
          Selectable: false
          Size (Pixels): 1
          Size (m): 0.004999999888241291
          Style: Points
          Topic: /cloud_registered
          Unreliable: true
          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: 239; 41; 41
          Color Transformer: ""
          Decay Time: 0
          Enabled: false
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Min Color: 0; 0; 0
          Name: PointCloud2
          Position Transformer: XYZ
          Queue Size: 10
          Selectable: true
          Size (Pixels): 5
          Size (m): 0.019999999552965164
          Style: Squares
          Topic: /cloud_effected
          Unreliable: false
          Use Fixed Frame: true
          Use rainbow: true
          Value: false
      Enabled: true
      Name: mapping
    - Class: rviz_common/Group
      Displays:
        - Angle Tolerance: 0.009999999776482582
          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: 1
          Name: Odometry
          Position Tolerance: 0.0010000000474974513
          Queue Size: 10
          Shape:
            Alpha: 1
            Axes Length: 5
            Axes Radius: 1
            Color: 255; 85; 0
            Head Length: 0
            Head Radius: 0
            Shaft Length: 0.800000011920929
            Shaft Radius: 0.5
            Value: Axes
          Topic: /aft_mapped_to_init
          Unreliable: false
          Value: true
      Enabled: true
      Name: Odometry
    - Alpha: 0
      Buffer Length: 2
      Class: rviz_default_plugins/Path
      Color: 25; 255; 255
      Enabled: true
      Head Diameter: 0
      Head Length: 0
      Length: 0.30000001192092896
      Line Style: Billboards
      Line Width: 0.699999988079071
      Name: Path
      Offset:
        X: 0
        Y: 0
        Z: 0
      Pose Color: 25; 255; 255
      Pose Style: None
      Queue Size: 10
      Radius: 0.029999999329447746
      Shaft Diameter: 0.4000000059604645
      Shaft Length: 0.4000000059604645
      Topic: /path
      Unreliable: false
      Value: true
    - Alpha: 0.10000000149011612
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 20
        Min Value: -3
        Value: false
      Axis: Z
      Channel Name: intensity
      Class: rviz_default_plugins/PointCloud2
      Color: 239; 41; 41
      Color Transformer: Intensity
      Decay Time: 1000
      Enabled: false
      Invert Rainbow: true
      Max Color: 255; 255; 255
      Min Color: 0; 0; 0
      Name: currPoints
      Position Transformer: XYZ
      Queue Size: 1
      Selectable: true
      Size (Pixels): 2
      Size (m): 0.009999999776482582
      Style: Points
      Topic: /cloud_voxel
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: false
    - Class: rviz_default_plugins/Marker
      Enabled: true
      Marker Topic: /planner_normal
      Name: Marker
      Namespaces:
        {}
      Queue Size: 100
      Value: true
    - Class: rviz_default_plugins/MarkerArray
      Enabled: false
      Marker Topic: /voxels
      Name: MarkerArray
      Namespaces:
        {}
      Queue Size: 100
      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: 245; 121; 0
      Color Transformer: FlatColor
      Decay Time: 0
      Enabled: false
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Min Color: 0; 0; 0
      Name: PointCloud2
      Position Transformer: XYZ
      Queue Size: 1
      Selectable: true
      Size (Pixels): 15
      Size (m): 0.009999999776482582
      Style: Points
      Topic: /cloud_ray_sub_map
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: false
    - Class: rviz_default_plugins/MarkerArray
      Enabled: false
      Marker Topic: /visualization_marker
      Name: MarkerArray
      Namespaces:
        {}
      Queue Size: 100
      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: 92; 53; 102
      Color Transformer: FlatColor
      Decay Time: 99999
      Enabled: false
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Min Color: 0; 0; 0
      Name: PointCloud2
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 10
      Size (m): 0.009999999776482582
      Style: Points
      Topic: /cloud_visual_map
      Unreliable: false
      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: 115; 210; 22
      Color Transformer: FlatColor
      Decay Time: 0
      Enabled: false
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Min Color: 0; 0; 0
      Name: surround
      Position Transformer: XYZ
      Queue Size: 1
      Selectable: false
      Size (Pixels): 12
      Size (m): 0.05000000074505806
      Style: Points
      Topic: /cloud_visual_sub_map
      Unreliable: true
      Use Fixed Frame: true
      Use rainbow: true
      Value: false
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 20
        Min Value: -3
        Value: false
      Axis: Z
      Channel Name: intensity
      Class: rviz_default_plugins/PointCloud2
      Color: 237; 212; 0
      Color Transformer: FlatColor
      Decay Time: 0
      Enabled: false
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Min Color: 0; 0; 0
      Name: currPoints
      Position Transformer: XYZ
      Queue Size: 100000
      Selectable: true
      Size (Pixels): 5
      Size (m): 0.009999999776482582
      Style: Points
      Topic: /cloud_sample_points
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: false
      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: 239; 41; 41
      Color Transformer: FlatColor
      Decay Time: 99999
      Enabled: false
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Min Color: 239; 41; 41
      Name: PointCloud2
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 4
      Size (m): 0.009999999776482582
      Style: Points
      Topic: /cloud_visual_map
      Unreliable: false
      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: 92; 53; 102
      Color Transformer: FlatColor
      Decay Time: 0
      Enabled: false
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Min Color: 0; 0; 0
      Name: PointCloud2
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 20
      Size (m): 0.009999999776482582
      Style: Points
      Topic: /cloud_ray_sub_map_fov
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: false
    - Angle Tolerance: 0
      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: 1
      Name: Odometry
      Position Tolerance: 0
      Queue Size: 10
      Shape:
        Alpha: 1
        Axes Length: 0.699999988079071
        Axes Radius: 0.20000000298023224
        Color: 255; 25; 0
        Head Length: 0.30000001192092896
        Head Radius: 0.10000000149011612
        Shaft Length: 1
        Shaft Radius: 0.05000000074505806
        Value: Axes
      Topic: /aft_mapped_to_init
      Unreliable: false
      Value: false
    - Class: rviz_default_plugins/MarkerArray
      Enabled: false
      Marker Topic: /waypoint_planner/visualize
      Name: MarkerArray
      Namespaces:
        {}
      Queue Size: 100
      Value: false
    - Class: rviz_default_plugins/MarkerArray
      Enabled: true
      Marker Topic: /fsm_node/visualization/exp_traj
      Name: MarkerArray
      Namespaces:
        {}
      Queue Size: 100
      Value: true
    - Class: rviz_default_plugins/MarkerArray
      Enabled: false
      Marker Topic: /fsm_node/visualization/exp_sfcs
      Name: MarkerArray
      Namespaces:
        {}
      Queue Size: 100
      Value: false
    - Class: rviz_default_plugins/Image
      Enabled: true
      Image Topic: /rgb_img
      Max Value: 1
      Median window: 5
      Min Value: 0
      Name: Image
      Normalize Range: true
      Queue Size: 2
      Transport Hint: raw
      Unreliable: false
      Value: true
  Enabled: true
  Global Options:
    Background Color: 0; 0; 0
    Default Light: true
    Fixed Frame: camera_init
    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
    - Class: rviz_default_plugins/SetInitialPose
      Theta std deviation: 0.2617993950843811
      Topic: /initialpose
      X std deviation: 0.5
      Y std deviation: 0.5
    - Class: rviz_default_plugins/SetGoal
      Topic: /move_base_simple/goal
    - Class: rviz_default_plugins/PublishPoint
      Single click: true
      Topic: /clicked_point
  Value: true
  Views:
    Current:
      Class: rviz_default_plugins/ThirdPersonFollower
      Distance: 582.7694702148438
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Field of View: 0.7853981852531433
      Focal Point:
        X: 463.3948974609375
        Y: -4.546019554138184
        Z: -4.951948722009547e-05
      Focal Shape Fixed Size: false
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Pitch: -0.26979732513427734
      Target Frame: drone
      Yaw: 3.1317780017852783
    Saved:
      - Class: rviz_default_plugins/Orbit
        Distance: 117.53474426269531
        Enable Stereo Rendering:
          Stereo Eye Separation: 0.05999999865889549
          Stereo Focal Distance: 1
          Swap Stereo Eyes: false
          Value: false
        Field of View: 0.7853981852531433
        Focal Point:
          X: -35.713138580322266
          Y: 36.932613372802734
          Z: 4.459701061248779
        Focal Shape Fixed Size: false
        Focal Shape Size: 0.05000000074505806
        Invert Z Axis: false
        Name: far1
        Near Clip Distance: 0.009999999776482582
        Pitch: 0.19539840519428253
        Target Frame: <Fixed Frame>
        Yaw: 0.17540442943572998
      - Class: rviz_default_plugins/Orbit
        Distance: 109.3125
        Enable Stereo Rendering:
          Stereo Eye Separation: 0.05999999865889549
          Stereo Focal Distance: 1
          Swap Stereo Eyes: false
          Value: false
        Field of View: 0.7853981852531433
        Focal Point:
          X: -22.092714309692383
          Y: 63.322662353515625
          Z: 14.125411987304688
        Focal Shape Fixed Size: false
        Focal Shape Size: 0.05000000074505806
        Invert Z Axis: false
        Name: far2
        Near Clip Distance: 0.009999999776482582
        Pitch: 0.035398442298173904
        Target Frame: <Fixed Frame>
        Yaw: 5.793589115142822
      - Class: rviz_default_plugins/Orbit
        Distance: 85.65605163574219
        Enable Stereo Rendering:
          Stereo Eye Separation: 0.05999999865889549
          Stereo Focal Distance: 1
          Swap Stereo Eyes: false
          Value: false
        Field of View: 0.7853981852531433
        Focal Point:
          X: 28.252656936645508
          Y: -35.49672317504883
          Z: -36.31112289428711
        Focal Shape Fixed Size: false
        Focal Shape Size: 0.05000000074505806
        Invert Z Axis: false
        Name: near1
        Near Clip Distance: 0.009999999776482582
        Pitch: 0.5653983950614929
        Target Frame: <Fixed Frame>
        Yaw: 0.9104044437408447
      - Class: rviz_default_plugins/Orbit
        Distance: 60.1053581237793
        Enable Stereo Rendering:
          Stereo Eye Separation: 0.05999999865889549
          Stereo Focal Distance: 1
          Swap Stereo Eyes: false
          Value: false
        Field of View: 0.7853981852531433
        Focal Point:
          X: 30.61589241027832
          Y: 29.98663330078125
          Z: -12.290168762207031
        Focal Shape Fixed Size: false
        Focal Shape Size: 0.05000000074505806
        Invert Z Axis: false
        Name: near2
        Near Clip Distance: 0.009999999776482582
        Pitch: 0.315398633480072
        Target Frame: <Fixed Frame>
        Yaw: 5.788588047027588
Window Geometry:
  Displays:
    collapsed: false
  Height: 1376
  Hide Left Dock: false
  Hide Right Dock: false
  Image:
    collapsed: false
  QMainWindow State: 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
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 2488
  X: 72
  Y: 27
