<commit_before>Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
        - /DepthCloud1/Auto Size1
        - /DepthCloud1/Occlusion Compensation1
        - /Odometry1
        - /Odometry1/Shape1
        - /RobotModel1
      Splitter Ratio: 0.5
    Tree Height: 270
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.588679016
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: Image
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.0299999993
        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
    - Class: rviz/Image
      Enabled: true
      Image Topic: /camera/color/image_raw
      Max Value: 1
      Median window: 5
      Min Value: 0
      Name: Image
      Normalize Range: true
      Queue Size: 2
      Transport Hint: compressed
      Unreliable: false
      Value: true
    - Alpha: 1
      Auto Size:
        Auto Size Factor: 1
        Value: false
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 10
        Min Value: -10
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/DepthCloud
      Color: 255; 255; 255
      Color Image Topic: /camera/color/image_raw
      Color Transformer: RGB8
      Color Transport Hint: compressed
      Decay Time: 0
      Depth Map Topic: /camera/aligned_depth_to_color/image_raw
      Depth Map Transport Hint: compressedDepth
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 4096
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: DepthCloud
      Occlusion Compensation:
        Occlusion Time-Out: 2
        Value: false
      Position Transformer: XYZ
      Queue Size: 50
      Selectable: false
      Size (Pixels): 3
      Size (m): 0.00162446417
      Style: Flat Squares
      Topic Filter: true
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Angle Tolerance: 0.100000001
      Class: rviz/Odometry
      Covariance:
        Orientation:<commit_msg>subscribe to throttled topics by default to save bw<commit_after>Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
        - /DepthCloud1/Auto Size1
        - /DepthCloud1/Occlusion Compensation1
        - /Odometry1
        - /Odometry1/Shape1
        - /RobotModel1
      Splitter Ratio: 0.5
    Tree Height: 270
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.588679016
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: Image
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.0299999993
        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
    - Class: rviz/Image
      Enabled: true
      Image Topic: /camera/color/image_raw_throttled
      Max Value: 1
      Median window: 5
      Min Value: 0
      Name: Image
      Normalize Range: true
      Queue Size: 2
      Transport Hint: compressed
      Unreliable: false
      Value: true
    - Alpha: 1
      Auto Size:
        Auto Size Factor: 1
        Value: false
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 10
        Min Value: -10
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/DepthCloud
      Color: 255; 255; 255
      Color Image Topic: /camera/color/image_raw_throttled
      Color Transformer: RGB8
      Color Transport Hint: compressed
      Decay Time: 0
      Depth Map Topic: /camera/aligned_depth_to_color/image_raw_throttled
      Depth Map Transport Hint: compressedDepth
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 4096
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: DepthCloud
      Occlusion Compensation:
        Occlusion Time-Out: 2
        Value: false
      Position Transformer: XYZ
      Queue Size: 50
      Selectable: false
      Size (Pixels): 3
      Size (m): 0.00162446417
      Style: Flat Squares
      Topic Filter: true
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Angle Tolerance: 0.100000001
      Class: rviz/Odometry
      Covariance:
        Orientation:
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