diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml
index d461596..83032b8 100644
--- a/config/costmap_common_params.yaml
+++ b/config/costmap_common_params.yaml
@@ -30,6 +30,7 @@ obstacles:
     marking: true
     inf_is_valid: false
     frustum_clearing_enabled: true
+    frustum_clear_left_border_px: 80
     frustum_clearing_pixel_step: 2
     frustum_min_range: 0.20
     frustum_max_range: 3.5
diff --git a/rviz/depth_local_costmap.rviz b/rviz/depth_local_costmap.rviz
index 0f8b066..c846f8a 100644
--- a/rviz/depth_local_costmap.rviz
+++ b/rviz/depth_local_costmap.rviz
@@ -7,12 +7,18 @@ Panels:
         - /Global Options1
         - /Local Costmap1
         - /Local Footprint1
+        - /PointCloud21
       Splitter Ratio: 0.5
-    Tree Height: 560
+    Tree Height: 169
   - Class: rviz/Views
     Expanded:
       - /Current View1
     Name: Views
+    Splitter Ratio: 0.5
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
 Visualization Manager:
   Class: ""
   Displays:
@@ -22,7 +28,7 @@ Visualization Manager:
       Color: 160; 160; 164
       Enabled: true
       Line Style:
-        Line Width: 0.03
+        Line Width: 0.029999999329447746
         Value: Lines
       Name: Grid
       Normal Cell Count: 0
@@ -36,16 +42,43 @@ Visualization Manager:
       Value: true
     - Class: rviz/TF
       Enabled: true
+      Filter (blacklist): ""
+      Filter (whitelist): ""
       Frame Timeout: 15
       Frames:
         All Enabled: true
-      Marker Scale: 0.4
+        base_footprint:
+          Value: true
+        base_link:
+          Value: true
+        camera_depth_optical_frame:
+          Value: true
+        left_wheel_link:
+          Value: true
+        odom:
+          Value: true
+        right_wheel_link:
+          Value: true
+        surface:
+          Value: true
+      Marker Alpha: 1
+      Marker Scale: 0.4000000059604645
       Name: TF
       Show Arrows: true
       Show Axes: true
       Show Names: true
       Tree:
-        {}
+        odom:
+          base_footprint:
+            base_link:
+              camera_depth_optical_frame:
+                {}
+              left_wheel_link:
+                {}
+              right_wheel_link:
+                {}
+              surface:
+                {}
       Update Interval: 0
       Value: true
     - Alpha: 0.75
@@ -63,12 +96,66 @@ Visualization Manager:
       Color: 25; 255; 0
       Enabled: true
       Name: Local Footprint
+      Queue Size: 10
       Topic: /local_costmap/costmap/footprint
       Unreliable: false
       Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 1.1723917722702026
+        Min Value: -0.052282363176345825
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: AxisColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Min Color: 0; 0; 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic: /camera/depth/points_proc
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      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: raw
+      Unreliable: false
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /camera/depth/image_raw
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
+    Default Light: true
     Fixed Frame: odom
     Frame Rate: 30
   Name: root
@@ -80,28 +167,41 @@ Visualization Manager:
     - Class: rviz/FocusCamera
     - Class: rviz/Measure
     - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
       Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
     - Class: rviz/SetGoal
       Topic: /move_base_simple/goal
   Value: true
   Views:
     Current:
+      Angle: 0
       Class: rviz/TopDownOrtho
+      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
-      Scale: 12
+      Near Clip Distance: 0.009999999776482582
+      Scale: 92.27959442138672
       Target Frame: <Fixed Frame>
-      X: 0
-      Y: 0
+      X: 6.780127048492432
+      Y: -10.79004192352295
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 900
+  Height: 1016
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd0000000100000000000001f40000032efc0200000001fb000000100044006900730070006c006100790073010000003d0000032e000000c900ffffff000003840000032e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd0000000100000000000001f40000039efc0200000004fb000000100044006900730070006c006100790073000000003d00000134000000c900fffffffb0000000a00560069006500770073000000003d0000010e000000a400fffffffb0000000a0049006d006100670065010000003d000001880000001600fffffffb0000000a0049006d00610067006501000001cb000002100000001600ffffff0000053e0000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Views:
     collapsed: false
-  Width: 1200
-  X: 80
-  Y: 60
+  Width: 1848
+  X: 72
+  Y: 27