diff --git a/rviz/depth_image_proc_realsense.rviz b/rviz/depth_image_proc_realsense.rviz
index d6d7ecb..a66b3ea 100644
--- a/rviz/depth_image_proc_realsense.rviz
+++ b/rviz/depth_image_proc_realsense.rviz
@@ -1,21 +1,48 @@
 Panels:
   - Class: rviz/Displays
+    Help Height: 70
     Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+      Splitter Ratio: 0.5
+    Tree Height: 180
   - Class: rviz/Views
+    Expanded:
+      - /Current View1
     Name: Views
+    Splitter Ratio: 0.5
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
 Visualization Manager:
   Class: ""
   Displays:
     - Alpha: 1
+      Cell Size: 1
       Class: rviz/Grid
+      Color: 160; 160; 164
       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: 10
       Reference Frame: base_link
+      Value: true
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
-        Max Value: 5
-        Min Value: 0
+        Max Value: 1.2948825359344482
+        Min Value: -0.7669334411621094
+        Value: true
       Axis: Z
       Channel Name: intensity
       Class: rviz/PointCloud2
@@ -23,14 +50,21 @@ Visualization Manager:
       Color Transformer: AxisColor
       Decay Time: 0
       Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Min Color: 0; 0; 0
       Name: RealSense PointCloud
       Position Transformer: XYZ
       Queue Size: 10
       Selectable: true
       Size (Pixels): 2
+      Size (m): 0.009999999776482582
       Style: Points
       Topic: /camera/depth/points_proc
+      Unreliable: false
       Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
     - Class: rviz/Image
       Enabled: true
       Image Topic: /camera/depth/image_raw
@@ -41,27 +75,85 @@ Visualization Manager:
       Normalize Range: true
       Queue Size: 2
       Transport Hint: raw
+      Unreliable: false
+      Value: true
+    - Class: rviz/TF
+      Enabled: true
+      Filter (blacklist): ""
+      Filter (whitelist): ""
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_link:
+          Value: true
+        camera_depth_optical_frame:
+          Value: true
+        camera_right_depth_optical_frame:
+          Value: true
+        map:
+          Value: true
+      Marker Alpha: 1
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        base_link:
+          camera_depth_optical_frame:
+            {}
+        map:
+          camera_right_depth_optical_frame:
+            {}
+      Update Interval: 0
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
-    Fixed Frame: map
+    Default Light: true
+    Fixed Frame: base_link
     Frame Rate: 30
   Name: root
   Tools:
     - Class: rviz/Interact
+      Hide Inactive Objects: true
     - Class: rviz/MoveCamera
     - Class: rviz/FocusCamera
+  Value: true
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 3
+      Distance: 4.50377893447876
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
       Focal Point:
-        X: 0
-        Y: 0
-        Z: 1
+        X: 0.1410774439573288
+        Y: -0.1452399045228958
+        Z: 1.1202927827835083
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
       Name: Current View
-      Pitch: 0.4
-      Yaw: 0.8
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.3897969722747803
+      Target Frame: <Fixed Frame>
+      Yaw: 3.146855115890503
+    Saved: ~
 Window Geometry:
+  Displays:
+    collapsed: false
   Height: 800
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd0000000100000000000001a8000002c6fc0200000003fb0000001e005200650061006c00530065006e00730065002000440065007000740068010000003d000000b90000001600fffffffb000000100044006900730070006c00610079007301000000fc00000137000000c900fffffffb0000000a005600690065007700730100000239000000ca000000a400ffffff00000302000002c600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  RealSense Depth:
+    collapsed: false
+  Views:
+    collapsed: false
   Width: 1200
+  X: 122
+  Y: 77