diff --git a/rviz/ana.rviz b/rviz/ana.rviz
index afa330468ad4363ee0bab5461154907a89967668..f729a7afec90c7e420cfce2be9306ed9c7404b67 100644
--- a/rviz/ana.rviz
+++ b/rviz/ana.rviz
@@ -6,9 +6,8 @@ Panels:
       Expanded:
         - /Global Options1
         - /Sensors1
-        - /Sensors1/Odometry1/Shape1
-      Splitter Ratio: 0.5
-    Tree Height: 594
+      Splitter Ratio: 0.538888872
+    Tree Height: 440
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -27,7 +26,7 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: Velodyne
+    SyncSource: Lidar_Pointcloud
 Toolbars:
   toolButtonStyle: 2
 Visualization Manager:
@@ -48,10 +47,10 @@ Visualization Manager:
         Y: 0
         Z: 0
       Plane: XY
-      Plane Cell Count: 10
+      Plane Cell Count: 100
       Reference Frame: <Fixed Frame>
       Value: true
-    - Alpha: 1
+    - Alpha: 0.899999976
       Class: rviz/RobotModel
       Collision Enabled: false
       Enabled: true
@@ -378,7 +377,7 @@ Visualization Manager:
           Value: true
         world:
           Value: true
-      Marker Scale: 0.100000001
+      Marker Scale: 0.25
       Name: TF
       Show Arrows: true
       Show Axes: true
@@ -451,11 +450,45 @@ Visualization Manager:
       Value: true
     - Class: rviz/Group
       Displays:
+        - Angle Tolerance: 0.5
+          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: 0.300000012
+              Color: 204; 51; 204
+              Scale: 1
+              Value: true
+            Value: false
+          Enabled: true
+          Keep: 100
+          Name: Odometry
+          Position Tolerance: 0.5
+          Shape:
+            Alpha: 1
+            Axes Length: 1
+            Axes Radius: 0.100000001
+            Color: 255; 25; 0
+            Head Length: 0.150000006
+            Head Radius: 0.0500000007
+            Shaft Length: 0.5
+            Shaft Radius: 0.0250000004
+            Value: Arrow
+          Topic: /ana/odom
+          Unreliable: false
+          Value: true
         - Alpha: 1
           Autocompute Intensity Bounds: true
           Autocompute Value Bounds:
-            Max Value: 15.7542963
-            Min Value: -0.0119036436
+            Max Value: 16.4379921
+            Min Value: -0.0132440627
             Value: true
           Axis: Z
           Channel Name: intensity
@@ -469,7 +502,7 @@ Visualization Manager:
           Max Intensity: 999999
           Min Color: 0; 0; 0
           Min Intensity: 999999
-          Name: Velodyne
+          Name: Lidar_Pointcloud
           Position Transformer: XYZ
           Queue Size: 10
           Selectable: true
@@ -487,35 +520,12 @@ Visualization Manager:
           Max Value: 1
           Median window: 5
           Min Value: 0
-          Name: realsense_color
+          Name: CameraImage
           Normalize Range: true
           Queue Size: 2
           Transport Hint: raw
           Unreliable: false
           Value: true
-        - Class: rviz/Camera
-          Enabled: true
-          Image Rendering: background and overlay
-          Image Topic: /ana/sensors/nav_cam/color/image_raw
-          Name: Camera
-          Overlay Alpha: 0.100000001
-          Queue Size: 2
-          Transport Hint: compressed
-          Unreliable: false
-          Value: true
-          Visibility:
-            Grid: true
-            RobotModel: false
-            Sensors:
-              Imu: false
-              Odometry: true
-              Value: true
-              Velodyne: true
-              realsense_color: true
-              realsense_pointcloud: true
-            TF: false
-            Value: true
-          Zoom Factor: 1
         - Alpha: 1
           Autocompute Intensity Bounds: true
           Autocompute Value Bounds:
@@ -534,7 +544,7 @@ Visualization Manager:
           Max Intensity: 4096
           Min Color: 0; 0; 0
           Min Intensity: 0
-          Name: realsense_pointcloud
+          Name: Camera_Pointcloud
           Position Transformer: XYZ
           Queue Size: 10
           Selectable: true
@@ -546,40 +556,6 @@ Visualization Manager:
           Use Fixed Frame: true
           Use rainbow: true
           Value: true
-        - Angle Tolerance: 0.5
-          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: 0.300000012
-              Color: 204; 51; 204
-              Scale: 1
-              Value: true
-            Value: false
-          Enabled: true
-          Keep: 100
-          Name: Odometry
-          Position Tolerance: 0.5
-          Shape:
-            Alpha: 1
-            Axes Length: 1
-            Axes Radius: 0.100000001
-            Color: 255; 25; 0
-            Head Length: 0.150000006
-            Head Radius: 0.0500000007
-            Shaft Length: 0.5
-            Shaft Radius: 0.0250000004
-            Value: Arrow
-          Topic: /ana/odom
-          Unreliable: false
-          Value: true
         - Alpha: 0.5
           Class: rviz_plugin_tutorials/Imu
           Color: 204; 51; 204
@@ -616,35 +592,37 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 10
+      Distance: 28.1111908
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.0599999987
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 0
-        Y: 0
-        Z: 0
+        X: -1.17006826
+        Y: 1.5472064
+        Z: 1.96580124
       Focal Shape Fixed Size: false
       Focal Shape Size: 0.0500000007
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.00999999978
-      Pitch: 0.785398185
-      Target Frame: <Fixed Frame>
+      Pitch: 0.680398285
+      Target Frame: ana/base_footprint
       Value: Orbit (rviz)
-      Yaw: 0.785398185
+      Yaw: 4.71358442
     Saved: ~
 Window Geometry:
   Camera:
     collapsed: false
+  CameraImage:
+    collapsed: false
   Displays:
     collapsed: false
-  Height: 807
+  Height: 653
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a000002e1fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002e1000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000019f000002e1fc0200000005fb0000001e007200650061006c00730065006e00730065005f0063006f006c006f007201000000280000018a0000001600fffffffb0000000c00430061006d00650072006101000001b8000001510000001600fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000003da000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006500000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000002fd000002e100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001a800000247fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000247000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000019f00000247fc0200000005fb0000001600430061006d0065007200610049006d0061006700650100000028000002470000001600fffffffb0000000c00430061006d006500720061000000023e000001c40000001600000016fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000021a000001e8000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006500000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000035e0000024700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -653,8 +631,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1554
+  Width: 1713
   X: 65
   Y: 24
-  realsense_color:
-    collapsed: false