Panels:
  - Class: rviz_common/Displays
    Name: Displays
Visualization Manager:
  Displays:
    - Class: rviz_default_plugins/RobotModel
      Description Topic:
        Value: /robot_description
      Name: RobotModel
      Enabled: true
      Visual Enabled: true
      Collision Enabled: false
    - Class: rviz_default_plugins/TF
      Name: TF
      Enabled: true
    - Class: rviz_default_plugins/Grid
      Name: Grid
      Enabled: true
  Global Options:
    Fixed Frame: base_link
    Frame Rate: 30
