diff --git a/sensor/extrinsic_calibration_manager/launch/aip_x2/tag_based_front_unit.launch.xml b/sensor/extrinsic_calibration_manager/launch/aip_x2/tag_based_front_unit.launch.xml
index 2b581944..b699f729 100644
--- a/sensor/extrinsic_calibration_manager/launch/aip_x2/tag_based_front_unit.launch.xml
+++ b/sensor/extrinsic_calibration_manager/launch/aip_x2/tag_based_front_unit.launch.xml
@@ -31,8 +31,8 @@
   <!-- image decompressor -->
   <group if="$(var calibrate_sensor)">
     <node pkg="image_transport_decompressor" exec="image_transport_decompressor_node" name="decompressor" output="screen">
-      <remap from="decompressor/input/compressed_image" to="/sensing/camera/$(var camera_name)/image_raw/compressed"/>
-      <remap from="decompressor/output/raw_image" to="/sensing/camera/$(var camera_name)/image_raw/decompressed"/>
+      <remap from="decompressor/input/compressed_image" to="/sensing/camera/$(var camera_name)/image_rect_color/compressed"/>
+      <remap from="decompressor/output/raw_image" to="/sensing/camera/$(var camera_name)/image_rect_color/decompressed"/>
     </node>
   </group>
 
@@ -41,7 +41,7 @@
     <arg name="ns" value="$(var parent_frame)/$(var camera_frame)"/>
     <arg name="parent_frame" value="$(var parent_frame)"/>
     <arg name="child_frame" value="$(var camera_frame)"/>
-    <arg name="image_topic" value="/sensing/camera/$(var camera_name)/image_raw/decompressed"/>
+    <arg name="image_topic" value="/sensing/camera/$(var camera_name)/image_rect_color/decompressed"/>
     <arg name="camera_info_topic" value="/sensing/camera/$(var camera_name)/camera_info"/>
     <arg name="pointcloud_topic" value="/sensing/lidar/front_lower/pointcloud_raw"/>
     <arg name="lidar_model" value="$(var lidar_model)"/>
@@ -53,7 +53,7 @@
 
     <node pkg="extrinsic_interactive_calibrator" exec="interactive_calibrator" name="interactive_calibrator" output="screen">
       <remap from="pointcloud" to="/sensing/lidar/front_lower/pointcloud_raw"/>
-      <remap from="image" to="/sensing/camera/$(var camera_name)/image_raw/compressed"/>
+      <remap from="image" to="/sensing/camera/$(var camera_name)/image_rect_color/compressed"/>
       <remap from="camera_info" to="/sensing/camera/$(var camera_name)/camera_info"/>
       <remap from="calibration_points_input" to="calibration_points"/>
 
diff --git a/sensor/extrinsic_calibration_manager/launch/aip_x2/tag_based_lidars.launch.xml b/sensor/extrinsic_calibration_manager/launch/aip_x2/tag_based_lidars.launch.xml
index bbfa0e77..9082a727 100644
--- a/sensor/extrinsic_calibration_manager/launch/aip_x2/tag_based_lidars.launch.xml
+++ b/sensor/extrinsic_calibration_manager/launch/aip_x2/tag_based_lidars.launch.xml
@@ -204,7 +204,7 @@
     /-->
 
     <!--Tag configuration - 2023/04/21 - Omiya -->
-    <arg name="waypoint_tag_ids" value="[0, 3, 4, 5]"/>
+    <arg name="waypoint_tag_ids" value="[0, 1, 2, 3, 4, 5]"/>
     <arg name="waypoint_tag_size" value="0.6"/>
 
     <arg name="ground_tag_family" value="tag36h11"/>
diff --git a/sensor/extrinsic_calibration_manager/launch/aip_x2/tag_based_rear_unit.launch.xml b/sensor/extrinsic_calibration_manager/launch/aip_x2/tag_based_rear_unit.launch.xml
index 4a7da588..6c4b5970 100644
--- a/sensor/extrinsic_calibration_manager/launch/aip_x2/tag_based_rear_unit.launch.xml
+++ b/sensor/extrinsic_calibration_manager/launch/aip_x2/tag_based_rear_unit.launch.xml
@@ -31,8 +31,8 @@
   <!-- image decompressor -->
   <group if="$(var calibrate_sensor)">
     <node pkg="image_transport_decompressor" exec="image_transport_decompressor_node" name="decompressor" output="screen">
-      <remap from="decompressor/input/compressed_image" to="/sensing/camera/$(var camera_name)/image_raw/compressed"/>
-      <remap from="decompressor/output/raw_image" to="/sensing/camera/$(var camera_name)/image_raw/decompressed"/>
+      <remap from="decompressor/input/compressed_image" to="/sensing/camera/$(var camera_name)/image_rect_color/compressed"/>
+      <remap from="decompressor/output/raw_image" to="/sensing/camera/$(var camera_name)/image_rect_color/decompressed"/>
     </node>
   </group>
 
@@ -41,7 +41,7 @@
     <arg name="ns" value="$(var parent_frame)/$(var camera_frame)"/>
     <arg name="parent_frame" value="$(var parent_frame)"/>
     <arg name="child_frame" value="$(var camera_frame)"/>
-    <arg name="image_topic" value="/sensing/camera/$(var camera_name)/image_raw/decompressed"/>
+    <arg name="image_topic" value="/sensing/camera/$(var camera_name)/image_rect_color/decompressed"/>
     <arg name="camera_info_topic" value="/sensing/camera/$(var camera_name)/camera_info"/>
     <arg name="pointcloud_topic" value="/sensing/lidar/rear_lower/pointcloud_raw"/>
     <arg name="lidar_model" value="$(var lidar_model)"/>
@@ -53,7 +53,7 @@
 
     <node pkg="extrinsic_interactive_calibrator" exec="interactive_calibrator" name="interactive_calibrator" output="screen">
       <remap from="pointcloud" to="/sensing/lidar/rear_lower/pointcloud_raw"/>
-      <remap from="image" to="/sensing/camera/$(var camera_name)/image_raw/compressed"/>
+      <remap from="image" to="/sensing/camera/$(var camera_name)/image_rect_color/compressed"/>
       <remap from="camera_info" to="/sensing/camera/$(var camera_name)/camera_info"/>
       <remap from="calibration_points_input" to="calibration_points"/>
 
diff --git a/sensor/extrinsic_calibration_manager/launch/aip_x2/tag_based_top_unit.launch.xml b/sensor/extrinsic_calibration_manager/launch/aip_x2/tag_based_top_unit.launch.xml
index 29543a3d..fc7fe7cb 100644
--- a/sensor/extrinsic_calibration_manager/launch/aip_x2/tag_based_top_unit.launch.xml
+++ b/sensor/extrinsic_calibration_manager/launch/aip_x2/tag_based_top_unit.launch.xml
@@ -6,8 +6,10 @@
   <arg name="camera_name"/>
   <arg name="rviz"/>
 
-  <let name="image_decompressed_topic" value="/sensing/camera/$(var camera_name)/image_raw/decompressed"/>
-  <let name="image_compressed_topic" value="/sensing/camera/$(var camera_name)/image_raw/compressed"/>
+  <let name="image_decompressed_topic" value="/sensing/camera/$(var camera_name)/image_rect_color/decompressed"/>
+  <let name="image_compressed_topic" value="/sensing/camera/$(var camera_name)/image_rect_color/compressed"/>
+  <let name="image_decompressed_topic" value="/sensing/camera/$(var camera_name)/image_raw/decompressed" if="$(eval &quot;'$(var camera_name)' == 'camera7' &quot;)"/>
+  <let name="image_compressed_topic" value="/sensing/camera/$(var camera_name)/image_raw/compressed" if="$(eval &quot;'$(var camera_name)' == 'camera7' &quot;)"/>
   <let name="camera_info_topic" value="/sensing/camera/$(var camera_name)/camera_info"/>
 
   <let name="camera_frame" value="$(var camera_name)/camera_link"/>
@@ -17,6 +19,7 @@
   <let name="pointcloud_topic" value="/sensing/lidar/right_upper/pointcloud_raw" if="$(eval &quot;'$(var camera_name)' == 'camera2' &quot;)"/>
   <let name="pointcloud_topic" value="/sensing/lidar/left_upper/pointcloud_raw" if="$(eval &quot;'$(var camera_name)' == 'camera4' &quot;)"/>
   <let name="pointcloud_topic" value="/sensing/lidar/left_upper/pointcloud_raw" if="$(eval &quot;'$(var camera_name)' == 'camera5' &quot;)"/>
+  <let name="pointcloud_topic" value="/sensing/lidar/left_upper/pointcloud_raw" if="$(eval &quot;'$(var camera_name)' == 'camera7' &quot;)"/>
 
   <let name="calibrate_sensor" value="false"/>
   <let name="calibrate_sensor" value="true" if="$(eval &quot;'$(var camera_name)' == 'camera0' &quot;)"/>
@@ -24,8 +27,26 @@
   <let name="calibrate_sensor" value="true" if="$(eval &quot;'$(var camera_name)' == 'camera2' &quot;)"/>
   <let name="calibrate_sensor" value="true" if="$(eval &quot;'$(var camera_name)' == 'camera4' &quot;)"/>
   <let name="calibrate_sensor" value="true" if="$(eval &quot;'$(var camera_name)' == 'camera5' &quot;)"/>
-
-  <let name="rviz_profile" value="$(find-pkg-share extrinsic_tag_based_calibrator)/rviz/tag_calib_$(var camera_name)_pandar_40p_right.rviz"/>
+  <let name="calibrate_sensor" value="true" if="$(eval &quot;'$(var camera_name)' == 'camera7' &quot;)"/>
+
+  <let
+    name="rviz_profile"
+    value="$(find-pkg-share extrinsic_tag_based_calibrator)/rviz/tag_calib_$(var camera_name)_pandar_40p_right.rviz"
+    if="$(eval &quot;'$(var camera_name)' == 'camera0' &quot;)"
+  />
+  <let
+    name="rviz_profile"
+    value="$(find-pkg-share extrinsic_tag_based_calibrator)/rviz/tag_calib_$(var camera_name)_pandar_40p_right.rviz"
+    if="$(eval &quot;'$(var camera_name)' == 'camera1' &quot;)"
+  />
+  <let
+    name="rviz_profile"
+    value="$(find-pkg-share extrinsic_tag_based_calibrator)/rviz/tag_calib_$(var camera_name)_pandar_40p_right.rviz"
+    if="$(eval &quot;'$(var camera_name)' == 'camera2' &quot;)"
+  />
+  <let name="rviz_profile" value="$(find-pkg-share extrinsic_tag_based_calibrator)/rviz/tag_calib_$(var camera_name)_pandar_40p_left.rviz" if="$(eval &quot;'$(var camera_name)' == 'camera4' &quot;)"/>
+  <let name="rviz_profile" value="$(find-pkg-share extrinsic_tag_based_calibrator)/rviz/tag_calib_$(var camera_name)_pandar_40p_left.rviz" if="$(eval &quot;'$(var camera_name)' == 'camera5' &quot;)"/>
+  <let name="rviz_profile" value="$(find-pkg-share extrinsic_tag_based_calibrator)/rviz/tag_calib_$(var camera_name)_pandar_40p_left.rviz" if="$(eval &quot;'$(var camera_name)' == 'camera7' &quot;)"/>
 
   <let name="lidar_model" value="pandar_40p"/>
   <!--let name="lidar_model" value="pandar_qt" /-->
diff --git a/sensor/extrinsic_tag_based_calibrator/rviz/tag_calib_camera7_pandar_40p_left.rviz b/sensor/extrinsic_tag_based_calibrator/rviz/tag_calib_camera7_pandar_40p_left.rviz
new file mode 100644
index 00000000..21e58b9e
--- /dev/null
+++ b/sensor/extrinsic_tag_based_calibrator/rviz/tag_calib_camera7_pandar_40p_left.rviz
@@ -0,0 +1,1222 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Image1/Topic1
+        - /(Optimized) Binary Transformed Points1/Topic1
+        - "/Cluster info: detail code1/Topic1"
+        - "/Cluster info: detail code1/Namespaces1"
+        - /Marker1/Topic1
+        - /Marker2/Topic1
+        - /Marker3/Topic1
+        - /Marker5/Topic1
+        - /Marker6/Topic1
+        - /Marker7/Topic1
+        - /Marker8/Topic1
+        - /Tag calib markers (filtered)1/Namespaces1
+      Splitter Ratio: 0.5865139961242676
+    Tree Height: 803
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /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
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: Points of Interest
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 226; 226; 226
+      Enabled: true
+      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: 20
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 0.5
+      Cell Size: 0.13500000536441803
+      Class: rviz_default_plugins/Grid
+      Color: 226; 226; 226
+      Enabled: false
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid Template
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: YZ
+      Plane Cell Count: 6
+      Reference Frame: <Fixed Frame>
+      Value: false
+    - Class: rviz_default_plugins/Axes
+      Enabled: true
+      Length: 1
+      Name: Axes
+      Radius: 0.10000000149011612
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz_default_plugins/Image
+      Enabled: false
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /sensing/camera/camera7/image_raw
+      Value: false
+    - Class: rviz_default_plugins/Camera
+      Enabled: false
+      Image Rendering: background and overlay
+      Name: Camera
+      Overlay Alpha: 0.5
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Best Effort
+        Value: /sensing/camera/camera7/image_raw
+      Value: false
+      Visibility:
+        (Before Transformed) Edge Pointcloud: true
+        (Optimized) Binary Transformed Points: true
+        (Optimized) Transformed Point: true
+        Axes: true
+        Boundary Points: true
+        "Cluster info: detail code": true
+        "Cluster info: size": true
+        Clusters: true
+        Colored Cluster: true
+        Estimated Corners (PCA): true
+        Filled Cluster B&W: true
+        Filled Clusters: true
+        Grid: true
+        Grid Template: true
+        ID: true
+        Image: true
+        Initial Corners: true
+        Initial Transformed Points: true
+        Initial guess Corners: true
+        Intersection Markers: true
+        Marker: true
+        MarkerArray (Unused): true
+        PointCloud2: true
+        Points of Interest: true
+        Raw Pointcloud: true
+        Tag Frame: true
+        Tag calib markers (filtered): true
+        Tag calib markers (unfiltered): true
+        Template Frame: true
+        Template Points: true
+        Value: true
+        edges1: true
+        edges2: true
+        edges3: true
+        edges4: true
+      Zoom Factor: 1
+    - 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: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 255
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: Raw Pointcloud
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Points
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Best Effort
+        Value: /sensing/lidar/left_upper/pointcloud_raw
+      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: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 78
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: Points of Interest
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.029999999329447746
+      Style: Spheres
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top_unit/top_unit_base_link/camera7/camera_link/lidartag/whole_edged_pc
+      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: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 49
+      Min Color: 0; 0; 0
+      Min Intensity: 1
+      Name: Clusters
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.029999999329447746
+      Style: Spheres
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top_unit/top_unit_base_link/camera7/camera_link/lidartag/cluster_edge_pc
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Alpha: 0.20000000298023224
+      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: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 89
+      Min Color: 0; 0; 0
+      Min Intensity: 2
+      Name: Filled Clusters
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 4
+      Size (m): 0.009999999776482582
+      Style: Points
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top_unit/top_unit_base_link/camera7/camera_link/lidartag/detected_pc
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: false
+      Name: Filled Clusters
+      Namespaces:
+        {}
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top_unit/top_unit_base_link/camera7/camera_link/lidartag/boundary_marker
+      Value: false
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: false
+      Name: Filled Cluster B&W
+      Namespaces:
+        {}
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top_unit/top_unit_base_link/camera7/camera_link/lidartag/cluster_marker
+      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: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 77
+      Min Color: 0; 0; 0
+      Min Intensity: 27
+      Name: Boundary Points
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.019999999552965164
+      Style: Boxes
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top_unit/top_unit_base_link/camera7/camera_link/lidartag/boundary_pts
+      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: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 0
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: Estimated Corners (PCA)
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.05000000074505806
+      Style: Spheres
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top_unit/top_unit_base_link/camera7/camera_link/lidartag/transformed_points_tag
+      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: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 50
+      Min Color: 0; 0; 0
+      Min Intensity: 50
+      Name: Initial guess Corners
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.10000000149011612
+      Style: Spheres
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top_unit/top_unit_base_link/camera7/camera_link/lidartag/transformed_points
+      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: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 93
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: Initial Transformed Points
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top_unit/top_unit_base_link/camera7/camera_link/lidartag/initial_template_points
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Class: rviz_default_plugins/Marker
+      Enabled: true
+      Name: Tag Frame
+      Namespaces:
+        "": true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top_unit/top_unit_base_link/camera7/camera_link/lidartag/tag_frame
+      Value: true
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: true
+      Name: ID
+      Namespaces:
+        Text0: true
+        Text1: true
+        Text2: true
+        Text3: true
+        Text4: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top_unit/top_unit_base_link/camera7/camera_link/lidartag/id_markers
+      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: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 98
+      Min Color: 0; 0; 0
+      Min Intensity: 1
+      Name: (Optimized) Transformed Point
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top_unit/top_unit_base_link/camera7/camera_link/lidartag/template_points
+      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: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 95
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: (Optimized) Binary Transformed Points
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top_unit/top_unit_base_link/camera7/camera_link/lidartag/template_points_3d
+      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: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 200
+      Min Color: 0; 0; 0
+      Min Intensity: 50
+      Name: Template Points
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top_unit/top_unit_base_link/camera7/camera_link/lidartag/associated_pattern_3d
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: false
+      Name: Template Frame
+      Namespaces:
+        {}
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top_unit/top_unit_base_link/camera7/camera_link/lidartag/ideal_frame
+      Value: false
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: false
+      Name: MarkerArray (Unused)
+      Namespaces:
+        {}
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top_unit/top_unit_base_link/camera7/camera_link/lidartag/detail_valid_marker
+      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: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: (Before Transformed) Edge Pointcloud
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.029999999329447746
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top_unit/top_unit_base_link/camera7/camera_link/lidartag/before_transformed_edge_pc
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: false
+      Name: Intersection Markers
+      Namespaces:
+        {}
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top_unit/top_unit_base_link/camera7/camera_link/lidartag/intesection_markers
+      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: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: -999999
+      Min Color: 0; 0; 0
+      Min Intensity: 999999
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.10000000149011612
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top_unit/top_unit_base_link/camera7/camera_link/lidartag/lidartag_cluster_points
+      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: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 0
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.5
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top_unit/top_unit_base_link/camera7/camera_link/lidartag/lidartag_cluster_edge_points
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: false
+      Name: "Cluster info: detail code"
+      Namespaces:
+        {}
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top_unit/top_unit_base_link/camera7/camera_link/lidartag/cluster_buff_index_number_markers
+      Value: false
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: false
+      Name: "Cluster info: size"
+      Namespaces:
+        {}
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top_unit/top_unit_base_link/camera7/camera_link/lidartag/cluster_buff_points_size_markers
+      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: 255; 255; 255
+      Color Transformer: RGB8
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: Colored Cluster
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.03999999910593033
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top_unit/top_unit_base_link/camera7/camera_link/lidartag/colored_cluster_buff
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Class: rviz_default_plugins/Marker
+      Enabled: false
+      Name: Marker
+      Namespaces:
+        {}
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top_unit/top_unit_base_link/camera7/camera_link/lidartag/top_corner
+      Value: false
+    - Class: rviz_default_plugins/Marker
+      Enabled: false
+      Name: Marker
+      Namespaces:
+        {}
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top_unit/top_unit_base_link/camera7/camera_link/lidartag/top_boundary_corner
+      Value: false
+    - Class: rviz_default_plugins/Marker
+      Enabled: false
+      Name: Marker
+      Namespaces:
+        {}
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top_unit/top_unit_base_link/camera7/camera_link/lidartag/left_corner
+      Value: false
+    - Class: rviz_default_plugins/Marker
+      Enabled: false
+      Name: Marker
+      Namespaces:
+        {}
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top_unit/top_unit_base_link/camera7/camera_link/lidartag/left_boundary_corner
+      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: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 50
+      Min Color: 0; 0; 0
+      Min Intensity: 50
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.10000000149011612
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top_unit/top_unit_base_link/camera7/camera_link/lidartag/transformed_points
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Class: rviz_default_plugins/Marker
+      Enabled: false
+      Name: Marker
+      Namespaces:
+        {}
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top_unit/top_unit_base_link/camera7/camera_link/lidartag/down_corner
+      Value: false
+    - Class: rviz_default_plugins/Marker
+      Enabled: false
+      Name: Marker
+      Namespaces:
+        {}
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top_unit/top_unit_base_link/camera7/camera_link/lidartag/down_boundary_corner
+      Value: false
+    - Class: rviz_default_plugins/Marker
+      Enabled: false
+      Name: Marker
+      Namespaces:
+        {}
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top_unit/top_unit_base_link/camera7/camera_link/lidartag/right_corner
+      Value: false
+    - Class: rviz_default_plugins/Marker
+      Enabled: false
+      Name: Marker
+      Namespaces:
+        {}
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top_unit/top_unit_base_link/camera7/camera_link/lidartag/right_boundary_corner
+      Value: false
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: false
+      Name: Tag calib markers (unfiltered)
+      Namespaces:
+        {}
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top_unit/top_unit_base_link/camera7/camera_link/current_projections
+      Value: false
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: true
+      Name: Tag calib markers (filtered)
+      Namespaces:
+        active_apriltag_frame: true
+        active_apriltag_id: true
+        active_center: true
+        active_lidartag_frame: true
+        active_lidartag_id: true
+        active_lidartag_status: true
+        apriltag_0_corner_id_ccs: false
+        apriltag_0_corner_id_ics: false
+        apriltag_ccs: false
+        apriltag_ics: false
+        apriltag_id_ics: false
+        calibration_status: true
+        calibration_zone: true
+        converged_apriltag_frame: true
+        converged_apriltag_id: true
+        converged_center: true
+        converged_lidartag_frame: true
+        converged_lidartag_id: true
+        lidartag_ccs: false
+        lidartag_ccs_0_corner_id: false
+        lidartag_ccs_1_corner_id: false
+        lidartag_ccs_2_corner_id: false
+        lidartag_ccs_3_corner_id: false
+        lidartag_ccs_4_corner_id: false
+        lidartag_ccs_id: false
+        lidartag_ics: false
+        lidartag_ics_0_corner_id: false
+        lidartag_ics_1_corner_id: false
+        lidartag_ics_2_corner_id: false
+        lidartag_ics_3_corner_id: false
+        lidartag_ics_4_corner_id: false
+        lidartag_ics_id: false
+        lidartag_lcs: false
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top_unit/top_unit_base_link/camera7/camera_link/filtered_projections
+      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: 255; 255; 255
+      Color Transformer: FlatColor
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 0
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: edges1
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.05000000074505806
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top_unit/top_unit_base_link/camera7/camera_link/lidartag/edge_group_1
+      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: 255; 255; 0
+      Color Transformer: FlatColor
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 0
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: edges2
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.05000000074505806
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top_unit/top_unit_base_link/camera7/camera_link/lidartag/edge_group_2
+      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: 255; 0; 255
+      Color Transformer: FlatColor
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 0
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: edges3
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.05000000074505806
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top_unit/top_unit_base_link/camera7/camera_link/lidartag/edge_group_3
+      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: 0; 255; 255
+      Color Transformer: FlatColor
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 0
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: edges4
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.05000000074505806
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top_unit/top_unit_base_link/camera7/camera_link/lidartag/edge_group_4
+      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: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 0
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: Initial Corners
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.07999999821186066
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top_unit/top_unit_base_link/camera7/camera_link/lidartag/initial_corners
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: pandar_40p_left
+    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
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/FPS
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.5747967958450317
+      Position:
+        X: -8.07607650756836
+        Y: 0.8628609776496887
+        Z: 7.040873050689697
+      Target Frame: <Fixed Frame>
+      Value: FPS (rviz_default_plugins)
+      Yaw: 6.252006530761719
+    Saved: ~
+Window Geometry:
+  Camera:
+    collapsed: false
+  Displays:
+    collapsed: false
+  Height: 1016
+  Hide Left Dock: false
+  Hide Right Dock: false
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