diff --git a/rviz/helena.rviz b/rviz/helena.rviz
index b0256563c7965d402aed54f88b5e15d730a25ee2..da92bc002a1f7c68c9b2f9241094473fcfa4663b 100644
--- a/rviz/helena.rviz
+++ b/rviz/helena.rviz
@@ -3,8 +3,7 @@ Panels:
     Help Height: 78
     Name: Displays
     Property Tree Widget:
-      Expanded:
-        - /LaserScan1
+      Expanded: ~
       Splitter Ratio: 0.5
     Tree Height: 633
   - Class: rviz/Selection
@@ -25,7 +24,7 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: ""
+    SyncSource: FrontLaserScan
 Visualization Manager:
   Class: ""
   Displays:
@@ -58,7 +57,7 @@ Visualization Manager:
           Value: true
         helena/front_hokuyo_base:
           Value: true
-        helena/front_hokuyo_sense:
+        helena/front_hokuyo_scan_frame:
           Value: true
         helena/front_left_axle:
           Value: true
@@ -78,7 +77,7 @@ Visualization Manager:
           Value: true
         helena/rear_hokuyo_base:
           Value: true
-        helena/rear_hokuyo_sense:
+        helena/rear_hokuyo_scan_frame:
           Value: true
         helena/rear_left_axle:
           Value: true
@@ -130,10 +129,10 @@ Visualization Manager:
               {}
             helena/sensors_base:
               helena/front_hokuyo_base:
-                helena/front_hokuyo_sense:
+                helena/front_hokuyo_scan_frame:
                   {}
               helena/rear_hokuyo_base:
-                helena/rear_hokuyo_sense:
+                helena/rear_hokuyo_scan_frame:
                   {}
             helena/top_plate:
               {}
@@ -163,7 +162,7 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
-        front_hokuyo_sense:
+        front_hokuyo_scan_frame:
           Alpha: 1
           Show Axes: false
           Show Trail: false
@@ -207,7 +206,7 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
-        rear_hokuyo_sense:
+        rear_hokuyo_scan_frame:
           Alpha: 1
           Show Axes: false
           Show Trail: false
@@ -305,23 +304,53 @@ Visualization Manager:
       Axis: Z
       Channel Name: intensity
       Class: rviz/LaserScan
-      Color: 255; 255; 255
-      Color Transformer: ""
+      Color: 255; 0; 0
+      Color Transformer: FlatColor
       Decay Time: 0
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 4096
+      Max Intensity: 999999
       Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: LaserScan
-      Position Transformer: ""
+      Min Intensity: 1.50313361e-19
+      Name: FrontLaserScan
+      Position Transformer: XYZ
       Queue Size: 10
       Selectable: true
       Size (Pixels): 3
       Size (m): 0.00999999978
       Style: Points
-      Topic: /scan
+      Topic: /helena/front_hokuyo_scan
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/LaserScan
+      Color: 255; 170; 0
+      Color Transformer: FlatColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 999999
+      Min Color: 0; 0; 0
+      Min Intensity: 1.50313361e-19
+      Name: RearLaserScan
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.00999999978
+      Style: Points
+      Topic: /helena/rear_hokuyo_scan
       Unreliable: false
       Use Fixed Frame: true
       Use rainbow: true
@@ -351,7 +380,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 10
+      Distance: 11.6034374
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.0599999987
         Stereo Focal Distance: 1