diff --git a/darwin_nav/config/darwin_nav.rviz b/darwin_nav/config/darwin_nav.rviz
new file mode 100644
index 0000000000000000000000000000000000000000..de4a4bf93b06235b15c8bcf246747e3e7707a649
--- /dev/null
+++ b/darwin_nav/config/darwin_nav.rviz
@@ -0,0 +1,428 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /TF1/Frames1
+        - /TF1/Tree1
+        - /local_plan1
+      Splitter Ratio: 0.385563
+    Tree Height: 655
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: false
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: /darwin
+      Update Interval: 0
+      Value: false
+      Visual Enabled: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        E125:
+          Value: true
+        E175:
+          Value: true
+        E225:
+          Value: true
+        E25:
+          Value: true
+        E75:
+          Value: true
+        N125:
+          Value: true
+        N175:
+          Value: true
+        N25:
+          Value: true
+        N75:
+          Value: true
+        S125:
+          Value: true
+        S175:
+          Value: true
+        S25:
+          Value: true
+        S75:
+          Value: true
+        W125:
+          Value: true
+        W175:
+          Value: true
+        W225:
+          Value: true
+        W25:
+          Value: true
+        W75:
+          Value: true
+        darwin/base_footprint:
+          Value: true
+        darwin/base_link:
+          Value: true
+        darwin/darwin_accel:
+          Value: true
+        darwin/darwin_cam_link:
+          Value: true
+        darwin/darwin_cam_optical_link:
+          Value: true
+        darwin/darwin_gyro:
+          Value: true
+        darwin/darwin_imu_link:
+          Value: true
+        darwin/head:
+          Value: true
+        darwin/left_arm_high:
+          Value: true
+        darwin/left_arm_low:
+          Value: true
+        darwin/left_leg_ankle_pitch:
+          Value: true
+        darwin/left_leg_ankle_roll:
+          Value: true
+        darwin/left_leg_knee:
+          Value: true
+        darwin/left_leg_pelvis_pitch:
+          Value: true
+        darwin/left_leg_pelvis_roll:
+          Value: true
+        darwin/left_leg_pelvis_yaw:
+          Value: true
+        darwin/left_shoulder:
+          Value: true
+        darwin/neck:
+          Value: true
+        darwin/odom:
+          Value: true
+        darwin/right_arm_high:
+          Value: true
+        darwin/right_arm_low:
+          Value: true
+        darwin/right_leg_ankle_pitch:
+          Value: true
+        darwin/right_leg_ankle_roll:
+          Value: true
+        darwin/right_leg_knee:
+          Value: true
+        darwin/right_leg_pelvis_pitch:
+          Value: true
+        darwin/right_leg_pelvis_roll:
+          Value: true
+        darwin/right_leg_pelvis_yaw:
+          Value: true
+        darwin/right_shoulder:
+          Value: true
+        obstacle_base_fence_link:
+          Value: true
+        obstacle_base_link:
+          Value: true
+      Marker Scale: 0.2
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        obstacle_base_link:
+          E125:
+            {}
+          E175:
+            {}
+          E225:
+            {}
+          E25:
+            {}
+          E75:
+            {}
+          N125:
+            {}
+          N175:
+            {}
+          N25:
+            {}
+          N75:
+            {}
+          S125:
+            {}
+          S175:
+            {}
+          S25:
+            {}
+          S75:
+            {}
+          W125:
+            {}
+          W175:
+            {}
+          W225:
+            {}
+          W25:
+            {}
+          W75:
+            {}
+          darwin/odom:
+            darwin/base_footprint:
+              darwin/base_link:
+                darwin/darwin_accel:
+                  {}
+                darwin/darwin_gyro:
+                  {}
+                darwin/darwin_imu_link:
+                  {}
+                darwin/left_leg_pelvis_yaw:
+                  darwin/left_leg_pelvis_roll:
+                    darwin/left_leg_pelvis_pitch:
+                      darwin/left_leg_knee:
+                        darwin/left_leg_ankle_pitch:
+                          darwin/left_leg_ankle_roll:
+                            {}
+                darwin/left_shoulder:
+                  darwin/left_arm_high:
+                    darwin/left_arm_low:
+                      {}
+                darwin/neck:
+                  darwin/head:
+                    darwin/darwin_cam_link:
+                      darwin/darwin_cam_optical_link:
+                        {}
+                darwin/right_leg_pelvis_yaw:
+                  darwin/right_leg_pelvis_roll:
+                    darwin/right_leg_pelvis_pitch:
+                      darwin/right_leg_knee:
+                        darwin/right_leg_ankle_pitch:
+                          darwin/right_leg_ankle_roll:
+                            {}
+                darwin/right_shoulder:
+                  darwin/right_arm_high:
+                    darwin/right_arm_low:
+                      {}
+          obstacle_base_fence_link:
+            {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: false
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+      Name: Environment
+      Robot Description: obstacles_environment
+      TF Prefix: ""
+      Update Interval: 0
+      Value: false
+      Visual Enabled: true
+    - Class: rviz/Image
+      Enabled: false
+      Image Topic: /darwin/camera/image_raw
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: compressed
+      Unreliable: false
+      Value: false
+    - Alpha: 0.7
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: false
+      Name: local_costmap
+      Topic: /move_base/local_costmap/costmap
+      Unreliable: false
+      Value: false
+    - Alpha: 0.7
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: false
+      Name: global_costmap
+      Topic: /move_base/global_costmap/costmap
+      Unreliable: false
+      Value: false
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 25; 255; 0
+      Enabled: true
+      Head Diameter: 0.3
+      Head Length: 0.2
+      Length: 0.3
+      Line Style: Lines
+      Line Width: 0.03
+      Name: global_plan
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: None
+      Radius: 0.03
+      Shaft Diameter: 0.1
+      Shaft Length: 0.1
+      Topic: /move_base/GlobalPlanner/plan
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 0; 0; 255
+      Enabled: true
+      Head Diameter: 0.3
+      Head Length: 0.2
+      Length: 0.3
+      Line Style: Lines
+      Line Width: 0.03
+      Name: local_plan
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: None
+      Radius: 0.03
+      Shaft Diameter: 0.1
+      Shaft Length: 0.1
+      Topic: /move_base/DWAPlannerROS/local_plan
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 255; 0; 0
+      Enabled: true
+      Head Diameter: 0.3
+      Head Length: 0.2
+      Length: 0.3
+      Line Style: Lines
+      Line Width: 0.03
+      Name: local_global_plan
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: None
+      Radius: 0.03
+      Shaft Diameter: 0.1
+      Shaft Length: 0.1
+      Topic: /move_base/DWAPlannerROS/global_plan
+      Unreliable: false
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: obstacle_base_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /darwin/qr_global_loc/initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 10
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.06
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.785398
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.785398
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 936
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000031efc0200000008fb0000001200530065006c0065006300740069006f006e00000000280000009b0000006400fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000031e000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006500000002190000012d0000001600ffffff000000010000010f0000031efc0200000004fb0000001e0054006f006f006c002000500072006f007000650072007400690065007301000000280000006e0000006400fffffffb0000000a00560069006500770073010000009c000002aa000000b000fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000031b000000a30000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b70000003efc0100000002fb0000000800540069006d00650100000000000004b7000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000002320000031e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1207
+  X: 65
+  Y: 24