diff --git a/rviz/nav.rviz b/rviz/nav.rviz
index 1ef7d836fe4a754144bfe32bd30c3202485a0af0..7a1084c87f7c9654abe0c9077c7fc732de0d57eb 100644
--- a/rviz/nav.rviz
+++ b/rviz/nav.rviz
@@ -517,7 +517,7 @@ Visualization Manager:
           Axes Radius: 0.009999999776482582
           Class: rviz/PoseArray
           Color: 255; 25; 0
-          Enabled: true
+          Enabled: false
           Head Length: 0.07000000029802322
           Head Radius: 0.029999999329447746
           Name: AmclParticles
@@ -526,7 +526,7 @@ Visualization Manager:
           Shape: Arrow (Flat)
           Topic: /turtlebot/particlecloud
           Unreliable: false
-          Value: true
+          Value: false
         - Alpha: 1
           Buffer Length: 1
           Class: rviz/Path
diff --git a/rviz/nav_no_map.rviz b/rviz/nav_no_map.rviz
index cb97bf9b4dd8601f91bd3c03b1fa09a005b855fd..db21cefe9e75b7614012522c97dac994d6c95760 100644
--- a/rviz/nav_no_map.rviz
+++ b/rviz/nav_no_map.rviz
@@ -7,8 +7,9 @@ Panels:
         - /TF1/Tree1
         - /Sensors1/LaserScan1
         - /Navigation1
+        - /Navigation1/Odometry1/Shape1
       Splitter Ratio: 0.5
-    Tree Height: 587
+    Tree Height: 796
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -26,7 +27,7 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: LaserScan
+    SyncSource: ""
   - Class: rviz/Tool Properties
     Expanded:
       - /2D Nav Goal1
@@ -367,7 +368,7 @@ Visualization Manager:
           Use rainbow: true
           Value: false
         - Class: rviz/Image
-          Enabled: true
+          Enabled: false
           Image Topic: /camera/rgb/image_raw
           Max Value: 1
           Median window: 5
@@ -377,7 +378,7 @@ Visualization Manager:
           Queue Size: 2
           Transport Hint: raw
           Unreliable: false
-          Value: true
+          Value: false
         - Alpha: 1
           Autocompute Intensity Bounds: true
           Autocompute Value Bounds:
@@ -517,7 +518,7 @@ Visualization Manager:
           Axes Radius: 0.009999999776482582
           Class: rviz/PoseArray
           Color: 255; 25; 0
-          Enabled: true
+          Enabled: false
           Head Length: 0.07000000029802322
           Head Radius: 0.029999999329447746
           Name: AmclParticles
@@ -526,7 +527,7 @@ Visualization Manager:
           Shape: Arrow (Flat)
           Topic: /turtlebot/particlecloud
           Unreliable: false
-          Value: true
+          Value: false
         - Alpha: 1
           Buffer Length: 1
           Class: rviz/Path
@@ -588,6 +589,40 @@ Visualization Manager:
           Topic: /turtlebot/move_base/current_goal
           Unreliable: false
           Value: true
+        - Angle Tolerance: 0.30000001192092896
+          Class: rviz/Odometry
+          Covariance:
+            Orientation:
+              Alpha: 0.5
+              Color: 255; 255; 127
+              Color Style: Unique
+              Frame: Local
+              Offset: 1
+              Scale: 1
+              Value: true
+            Position:
+              Alpha: 0.30000001192092896
+              Color: 204; 51; 204
+              Scale: 1
+              Value: true
+            Value: false
+          Enabled: false
+          Keep: 100
+          Name: Odometry
+          Position Tolerance: 0.30000001192092896
+          Shape:
+            Alpha: 1
+            Axes Length: 1
+            Axes Radius: 0.10000000149011612
+            Color: 255; 25; 0
+            Head Length: 0.10000000149011612
+            Head Radius: 0.10000000149011612
+            Shaft Length: 0.20000000298023224
+            Shaft Radius: 0.05000000074505806
+            Value: Arrow
+          Topic: /odom
+          Unreliable: false
+          Value: false
       Enabled: true
       Name: Navigation
   Enabled: true
@@ -641,7 +676,7 @@ Window Geometry:
   Hide Right Dock: false
   Image:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000195000003a7fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002d6000000c900fffffffb0000000a0049006d006100670065000000031e000000c60000000000000000fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000003c005400720061006a006500630074006f007200790020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730000000337000000ad0000005c00fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730000000337000000ad0000005c00fffffffb0000000a0049006d0061006700650100000319000000cb0000001600ffffff000000010000010b00000294fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003300000294000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005a2000003a700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000195000003a7fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003a7000000c900fffffffb0000000a0049006d006100670065000000031e000000c60000001600fffffffb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000003c005400720061006a006500630074006f007200790020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730000000337000000ad0000005c00fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730000000337000000ad0000005c00fffffffb0000000a0049006d0061006700650100000319000000cb0000000000000000000000010000010b00000294fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003300000294000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000004f300fffffffb0000000800540069006d00650100000000000004500000000000000000000005a2000003a700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
diff --git a/rviz/robot.rviz b/rviz/robot.rviz
index 014bf468751b3bb9c39bea795ee5c85e939aab66..6984593679822e1a103f51d18d236f92f57c3ef6 100644
--- a/rviz/robot.rviz
+++ b/rviz/robot.rviz
@@ -7,6 +7,7 @@ Panels:
         - /Global Options1
         - /TF1/Tree1
         - /Sensors1
+        - /Odometry1/Shape1
       Splitter Ratio: 0.5
     Tree Height: 796
   - Class: rviz/Selection
@@ -469,6 +470,40 @@ Visualization Manager:
       Show Visual Aids: false
       Update Topic: /turtlebot_marker_server/update
       Value: false
+    - Angle Tolerance: 0.4000000059604645
+      Class: rviz/Odometry
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: true
+        Position:
+          Alpha: 0.30000001192092896
+          Color: 204; 51; 204
+          Scale: 1
+          Value: true
+        Value: false
+      Enabled: false
+      Keep: 100
+      Name: Odometry
+      Position Tolerance: 0.30000001192092896
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.10000000149011612
+        Color: 255; 25; 0
+        Head Length: 0.10000000149011612
+        Head Radius: 0.10000000149011612
+        Shaft Length: 0.20000000298023224
+        Shaft Radius: 0.05000000074505806
+        Value: Arrow
+      Topic: /odom
+      Unreliable: false
+      Value: false
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48