diff --git a/rviz/ana_sim.rviz b/rviz/ana_sim.rviz
index 0438e411b7156dce1ba71ac2ec2f59d1e71f3a22..3588b60b6978e60f76fd055825858329087798d2 100644
--- a/rviz/ana_sim.rviz
+++ b/rviz/ana_sim.rviz
@@ -6,10 +6,10 @@ Panels:
       Expanded:
         - /Global Options1
         - /Status1
-        - /realsense_color1
+        - /Velodyne1
         - /realsense_pointcloud1
       Splitter Ratio: 0.5
-    Tree Height: 369
+    Tree Height: 522
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -343,8 +343,8 @@ Visualization Manager:
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
+        Max Value: 0.00564962626
+        Min Value: -0.00647342205
         Value: true
       Axis: Z
       Channel Name: intensity
@@ -355,9 +355,9 @@ Visualization Manager:
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 1.37690466e-37
+      Max Intensity: 0
       Min Color: 0; 0; 0
-      Min Intensity: 1.37690466e-37
+      Min Intensity: 0
       Name: Velodyne
       Position Transformer: XYZ
       Queue Size: 10
@@ -401,7 +401,7 @@ Visualization Manager:
       Channel Name: intensity
       Class: rviz/PointCloud2
       Color: 255; 255; 255
-      Color Transformer: ""
+      Color Transformer: RGB8
       Decay Time: 0
       Enabled: true
       Invert Rainbow: false
@@ -410,7 +410,7 @@ Visualization Manager:
       Min Color: 0; 0; 0
       Min Intensity: 0
       Name: realsense_pointcloud
-      Position Transformer: ""
+      Position Transformer: XYZ
       Queue Size: 10
       Selectable: true
       Size (Pixels): 3
@@ -446,7 +446,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 5.65891933
+      Distance: 8.14016628
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.0599999987
         Stereo Focal Distance: 1
@@ -469,10 +469,10 @@ Visualization Manager:
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 846
+  Height: 1056
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a000002c4fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000200000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e007200650061006c00730065006e00730065005f0063006f006c006f0072010000022e000000be0000001600ffffff000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000002c4000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000022b000002c400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000299000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e007200650061006c00730065006e00730065005f0063006f006c006f007201000002c7000000f70000001600ffffff000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004ba0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -481,8 +481,8 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1200
+  Width: 1855
   X: 65
-  Y: 60
+  Y: 24
   realsense_color:
     collapsed: false