<commit_before>Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Path1/Status1
      Splitter Ratio: 0.694444
    Tree Height: 420
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.588679
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: ""
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 10
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.03
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 1000
      Reference Frame: <Fixed Frame>
      Value: true
    - Alpha: 0.5
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: true
      Name: OccupancyGrid
      Topic: /ogrid
      Unreliable: false
      Value: true
    - Angle Tolerance: 0.0001
      Class: rviz/Odometry
      Color: 255; 25; 0
      Enabled: true
      Keep: 1
      Length: 2.667
      Name: Odom
      Position Tolerance: 0.01
      Topic: /odom
      Value: true
    - Alpha: 0.25
      Axes Length: 1
      Axes Radius: 0.1
      Class: rviz/Pose
      Color: 255; 255; 0
      Enabled: true
      Head Length: 0
      Head Radius: 0
      Name: VehicleFront
      Shaft Length: 2.667
      Shaft Radius: 2.438
      Shape: Arrow
      Topic: /vehicle
      Unreliable: false
      Value: true
    - Alpha: 0.25
      Axes Length: 1
      Axes Radius: 0.1
      Class: rviz/Pose
      Color: 255; 255; 0
      Enabled: true
      Head Length: 0
      Head Radius: 0
      Name: VehicleBack
      Shaft Length: -2.667
      Shaft Radius: 2.438
      Shape: Arrow
      Topic: /vehicle
      Unreliable: false
      Value: true
    - Angle Tolerance: 0.0001
      Class: rviz/Odometry
      Color: 255; 255; 0
      Enabled: true
      Keep: 1
      Length: 2.667
      Name: Reference
      Position Tolerance: 0.01
      Topic: /lqrrt/ref
      Value: true
    - Arrow Length: 0.5
      Class: rviz/PoseArray
      Color: 0; 255; 255
      Enabled: true
      Name: Tree
      Topic: /lqrrt/tree
      Unreliable: false
      Value: true
    - Arrow Length: 0.5
      Class: rviz/PoseArray
      Color: 255; 25; 0
      Enabled: true
      Name: Path
      Topic: /lqrrt/path
      Unreliable: false
      Value: true
    - Alpha: 1
      Axes Length: 1
      Axes Radius: 0.1
      Class: rviz/Pose
      Color: 0; 255; 0
      Enabled: true
      Head Length: 1
      Head Radius: 1.5
      Name: Goal
      Shaft Length: 1
      Shaft Radius: 1.5
      Shape: Arrow
      Topic: /lqrrt/goal
      Unreliable: false
      Value: true
    - Alpha: 1
      Class: rviz/PointStamped
      Color: 204; 41; 204
      Enabled: true
      History Length: 1
      Name: Focus
      Radius: 1
      Topic: /lqrrt/focus
      Unreliable: false
      Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Fixed Frame: world
    Frame Rate: 30
  Name: root
  Tools:
    - Class: rviz/Interact
      Hide Inactive Objects: true
    - Class: rviz/MoveCamera
    - Class: rviz/Select
    - Class: rviz/FocusCamera
    - Class: rviz/Measure
    - Class: rviz/SetInitialPose
      Topic: /initialpose
    - Class: rviz/SetGoal
      Topic: /move_base_simple/goal
    - Class: rviz/PublishPoint
      Single click: true
      Topic: /clicked_point
  Value: true
  Views:
    Current:
      Angle: 6.28002
      Class: rviz/TopDownOrtho
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.06
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Name: Current View
      Near Clip Distance: 0.01
      Scale: 10.4093
      Target Frame: <Fixed Frame>
      Value: TopDownOrtho (rviz)
      X: 5.72088
      Y: 0.175332
    Saved: ~
Window Geometry:
  Displays:
    collapsed: true
  Height: 701
  Hide Left Dock: true
  Hide Right Dock: false
  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000233fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000002800000233000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000037afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000037a000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003af0000003efc0100000002fb0000000800540069006d00650100000000000003af000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003af0000023300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 943
  X: 967
  Y: 16<commit_msg>RVIZ DEFAULT: visualize planner effort wrench<commit_after>Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Effort1
        - /Path1/Status1
      Splitter Ratio: 0.694444
    Tree Height: 420
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.588679
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: ""
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 10
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.03
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 1000
      Reference Frame: <Fixed Frame>
      Value: true
    - Alpha: 0.5
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: true
      Name: OccupancyGrid
      Topic: /ogrid
      Unreliable: false
      Value: true
    - Angle Tolerance: 0.0001
      Class: rviz/Odometry
      Color: 255; 25; 0
      Enabled: false
      Keep: 1
      Length: 2.667
      Name: Odom
      Position Tolerance: 0.01
      Topic: /odom
      Value: false
    - Alpha: 0.25
      Axes Length: 1
      Axes Radius: 0.1
      Class: rviz/Pose
      Color: 255; 255; 0
      Enabled: true
      Head Length: 0
      Head Radius: 0
      Name: VehicleFront
      Shaft Length: 2.667
      Shaft Radius: 2.438
      Shape: Arrow
      Topic: /vehicle
      Unreliable: false
      Value: true
    - Alpha: 0.25
      Axes Length: 1
      Axes Radius: 0.1
      Class: rviz/Pose
      Color: 255; 255; 0
      Enabled: true
      Head Length: 0
      Head Radius: 0
      Name: VehicleBack
      Shaft Length: -2.667
      Shaft Radius: 2.438
      Shape: Arrow
      Topic: /vehicle
      Unreliable: false
      Value: true
    - Angle Tolerance: 0.0001
      Class: rviz/Odometry
      Color: 255; 255; 0
      Enabled: true
      Keep: 1
      Length: 2.667
      Name: Reference
      Position Tolerance: 0.01
      Topic: /lqrrt/ref
      Value: true
    - Alpha: 0.5
      Arrow Width: 2
      Class: rviz/WrenchStamped
      Enabled: true
      Force Arrow Scale: 0.005
      Force Color: 255; 85; 0
      History Length: 1
      Name: Effort
      Topic: /lqrrt/effort
      Torque Arrow Scale: 0.005
      Torque Color: 255; 85; 127
      Unreliable: false
      Value: true
    - Arrow Length: 0.5
      Class: rviz/PoseArray
      Color: 0; 255; 255
      Enabled: true
      Name: Tree
      Topic: /lqrrt/tree
      Unreliable: false
      Value: true
    - Arrow Length: 0.5
      Class: rviz/PoseArray
      Color: 255; 25; 0
      Enabled: true
      Name: Path
      Topic: /lqrrt/path
      Unreliable: false
      Value: true
    - Alpha: 1
      Axes Length: 1
      Axes Radius: 0.1
      Class: rviz/Pose
      Color: 0; 255; 0
      Enabled: true
      Head Length: 1
      Head Radius: 1.5
      Name: Goal
      Shaft Length: 1
      Shaft Radius: 1.5
      Shape: Arrow
      Topic: /lqrrt/goal
      Unreliable: false
      Value: true
    - Alpha: 1
      Class: rviz/PointStamped
      Color: 204; 41; 204
      Enabled: true
      History Length: 1
      Name: Focus
      Radius: 1
      Topic: /lqrrt/focus
      Unreliable: false
      Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Fixed Frame: world
    Frame Rate: 30
  Name: root
  Tools:
    - Class: rviz/Interact
      Hide Inactive Objects: true
    - Class: rviz/MoveCamera
    - Class: rviz/Select
    - Class: rviz/FocusCamera
    - Class: rviz/Measure
    - Class: rviz/SetInitialPose
      Topic: /initialpose
    - Class: rviz/SetGoal
      Topic: /move_base_simple/goal
    - Class: rviz/PublishPoint
      Single click: true
      Topic: /clicked_point
  Value: true
  Views:
    Current:
      Angle: 6.28002
      Class: rviz/TopDownOrtho
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.06
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Name: Current View
      Near Clip Distance: 0.01
      Scale: 10.4093
      Target Frame: <Fixed Frame>
      Value: TopDownOrtho (rviz)
      X: 18.223
      Y: 4.36277
    Saved: ~
Window Geometry:
  Displays:
    collapsed: true
  Height: 701
  Hide Left Dock: true
  Hide Right Dock: false
  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000233fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000002800000233000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000037afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000037a000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003af0000003efc0100000002fb0000000800540069006d00650100000000000003af000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003af0000023300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 943
  X: 967
  Y: 24
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