<commit_before>Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
        - /TF1/Frames1
        - /Map1
        - /Map1/Position1
        - /base_footprint1
        - /Path1
        - /Path1/Offset1
      Splitter Ratio: 0.5
    Tree Height: 670
  - 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: ""
  - Class: rviz/Tool Properties
    Expanded:
      - /Interact1
    Name: Tool Properties
    Splitter Ratio: 0.5
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      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: 10
      Reference Frame: <Fixed Frame>
      Value: true
    - Alpha: 1
      Class: rviz/RobotModel
      Collision Enabled: false
      Enabled: true
      Links:
        All Links Enabled: true
        Expand Joint Details: false
        Expand Link Details: false
        Expand Tree: false
        Link Tree Style: Links in Alphabetic Order
        base_footprint:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        l_front_wheel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        l_rear_wheel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        l_track:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        r_front_wheel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        r_rear_wheel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        r_track:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
      Name: RobotModel
      Robot Description: robot_description
      TF Prefix: ""
      Update Interval: 0
      Value: true
      Visual Enabled: true
    - Class: rviz/TF
      Enabled: true
      Frame Timeout: 15
      Frames:
        All Enabled: false
        base_footprint:
          Value: true
        base_link:
          Value: true
        encoder/odom:
          Value: true
        l_front_wheel:
          Value: true
        l_rear_wheel:
          Value: true
        l_track:
          Value: true
        r_front_wheel:
          Value: true
        r_rear_wheel:
          Value: true
        r_track:
          Value: true
      Marker Scale: 1
      Name: TF
      Show Arrows: false
      Show Axes: true
      Show Names: true
      Tree:
        encoder/odom:
          base_footprint:
            base_link:
              l_front_wheel:
                {}
              l_rear_wheel:
                {}
              l_track:
                {}
              r_front_wheel:
                {}
              r_rear_wheel:
                {}
              r_track:
                {}
      Update Interval: 0
      Value: true
    - Alpha: 0.7
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: true
      Name: Map
      Topic: /move_base/local_costmap/costmap
      Value: true
    - Alpha: 1
      Class: rviz/Polygon
      Color: 0; 255; 0
      Enabled: true
      Name: base_footprint
      Topic: /move_base/local_costmap/obstacle_layer_footprint/footprint_stamped
      Value: true
    - Alpha: 1
      Buffer Length: 1
      Class: rviz/Path
      Color: 255; 85; 0
      Enabled: true
      Line Style: Lines
      Line Width: 0.03
      Name: Path
      Offset:
        X: 0
        Y: 0
        Z: 0
      Topic: /move_base/TrajectoryPlannerROS/global_plan
      Value: true<commit_msg>UPDATE urdf.rviz: Added Interactive Marker element to be shown<commit_after>Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
        - /TF1/Frames1
        - /Map1/Position1
        - /Path1/Offset1
        - /InteractiveMarkers1
      Splitter Ratio: 0.5
    Tree Height: 670
  - 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: ""
  - Class: rviz/Tool Properties
    Expanded:
      - /Interact1
    Name: Tool Properties
    Splitter Ratio: 0.5
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      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: 10
      Reference Frame: <Fixed Frame>
      Value: true
    - Alpha: 1
      Class: rviz/RobotModel
      Collision Enabled: false
      Enabled: true
      Links:
        All Links Enabled: true
        Expand Joint Details: false
        Expand Link Details: false
        Expand Tree: false
        Link Tree Style: Links in Alphabetic Order
        base_footprint:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        l_front_wheel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        l_rear_wheel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        l_track:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        r_front_wheel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        r_rear_wheel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        r_track:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
      Name: RobotModel
      Robot Description: robot_description
      TF Prefix: ""
      Update Interval: 0
      Value: true
      Visual Enabled: true
    - Class: rviz/TF
      Enabled: true
      Frame Timeout: 15
      Frames:
        All Enabled: false
        base_footprint:
          Value: true
        base_link:
          Value: true
        l_front_wheel:
          Value: true
        l_rear_wheel:
          Value: true
        l_track:
          Value: true
        r_front_wheel:
          Value: true
        r_rear_wheel:
          Value: true
        r_track:
          Value: true
      Marker Scale: 1
      Name: TF
      Show Arrows: false
      Show Axes: true
      Show Names: true
      Tree:
        {}
      Update Interval: 0
      Value: true
    - Alpha: 0.7
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: false
      Name: Map
      Topic: /move_base/local_costmap/costmap
      Value: false
    - Alpha: 1
      Class: rviz/Polygon
      Color: 0; 255; 0
      Enabled: true
      Name: base_footprint
      Topic: /move_base/local_costmap/obstacle_layer_footprint/footprint_stamped
      Value: true
    - Alpha: 1
      Buffer Length: 1
      Class: rviz/Path
      Color: 255; 85; 0
      Enabled: true
      Line Style: Lines
      Line Width: 0.03
      Name: Path
      Offset:
        X: 0
        Y: 0
        Z: 0
      Topic: /move_base/TrajectoryPlannerROS/global_plan
      Value: true
    - Class: rviz/InteractiveMarkers
      Enable Transparency: true
      Enabled: true
      Name: InteractiveMarkers
      Show Axes: false
      Show Descriptions: false
      Show Visual Aids: true
      Update Topic: /twist_marker_server/update
      Value: true
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