diff --git a/rviz/3d_helena.rviz b/rviz/3d_helena.rviz
index 57e4357a61f1ce2ed8cc94b32c61eaa05c85f306..329bc53656b1d8829f21e5bff5a167e73a1aaa01 100644
--- a/rviz/3d_helena.rviz
+++ b/rviz/3d_helena.rviz
@@ -6,10 +6,9 @@ Panels:
       Expanded:
         - /Global Options1
         - /TF1/Frames1
-        - /Sensors1
         - /Nav1
+        - /3d_nav_detection1
         - /3d_nav_detection1/lidar1
-        - /3d_nav_detection1/lidar1/lidar_obstacle1
         - /3d_nav_detection1/camera1
       Splitter Ratio: 0.5486725568771362
     Tree Height: 664
@@ -233,20 +232,10 @@ Visualization Manager:
       Frame Timeout: 15
       Frames:
         All Enabled: true
-        camera_accel_frame:
-          Value: true
-        camera_accel_optical_frame:
-          Value: true
-        camera_gyro_frame:
-          Value: true
-        camera_gyro_optical_frame:
-          Value: true
         helena/base_footprint:
           Value: true
         helena/base_link:
           Value: true
-        helena/camera_aligned_depth_to_color_frame:
-          Value: true
         helena/camera_bottom_screw_frame:
           Value: true
         helena/camera_color_frame:
@@ -313,6 +302,10 @@ Visualization Manager:
           Value: true
         map:
           Value: true
+        world:
+          Value: true
+        world_body:
+          Value: true
       Marker Scale: 0.10000000149011612
       Name: TF
       Show Arrows: true
@@ -349,17 +342,9 @@ Visualization Manager:
                   helena/helena_realsense_support:
                     helena/camera_bottom_screw_frame:
                       helena/camera_link:
-                        camera_accel_frame:
-                          camera_accel_optical_frame:
-                            {}
-                        camera_gyro_frame:
-                          camera_gyro_optical_frame:
-                            {}
-                        helena/camera_aligned_depth_to_color_frame:
+                        helena/camera_color_frame:
                           helena/camera_color_optical_frame:
                             {}
-                        helena/camera_color_frame:
-                          {}
                         helena/camera_depth_frame:
                           helena/camera_depth_optical_frame:
                             {}
@@ -375,6 +360,9 @@ Visualization Manager:
               helena/imu_bno055_base:
                 helena/imu_bno055:
                   {}
+          world:
+            world_body:
+              {}
       Update Interval: 0
       Value: true
     - Class: rviz/Group
@@ -433,8 +421,8 @@ Visualization Manager:
         - Alpha: 1
           Autocompute Intensity Bounds: true
           Autocompute Value Bounds:
-            Max Value: 3.2334041595458984
-            Min Value: -0.17466863989830017
+            Max Value: 2.4850451946258545
+            Min Value: -1.0013282299041748
             Value: true
           Axis: Z
           Channel Name: intensity
@@ -490,7 +478,7 @@ Visualization Manager:
           Use Fixed Frame: true
           Use rainbow: true
           Value: false
-      Enabled: true
+      Enabled: false
       Name: Sensors
     - Class: rviz/Group
       Displays:
@@ -550,12 +538,12 @@ Visualization Manager:
           Class: rviz/Map
           Color Scheme: costmap
           Draw Behind: true
-          Enabled: false
+          Enabled: true
           Name: local_costmap
           Topic: /helena/move_base/local_costmap/costmap
           Unreliable: false
           Use Timestamp: false
-          Value: false
+          Value: true
         - Alpha: 0.699999988079071
           Class: rviz/Map
           Color Scheme: costmap
@@ -701,9 +689,9 @@ Visualization Manager:
               Enabled: true
               Invert Rainbow: false
               Max Color: 255; 255; 255
-              Max Intensity: -999999
+              Max Intensity: 0
               Min Color: 0; 0; 0
-              Min Intensity: 999999
+              Min Intensity: 0
               Name: lidar_zone
               Position Transformer: XYZ
               Queue Size: 10
@@ -912,7 +900,7 @@ Visualization Manager:
               Use Fixed Frame: true
               Use rainbow: true
               Value: true
-          Enabled: false
+          Enabled: true
           Name: camera
       Enabled: true
       Name: 3d_nav_detection
@@ -943,34 +931,34 @@ Visualization Manager:
   Value: true
   Views:
     Current:
-      Class: rviz/XYOrbit
-      Distance: 5.746764183044434
+      Class: rviz/Orbit
+      Distance: 12.543999671936035
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: -1.0537782907485962
-        Y: -2.142118453979492
-        Z: 8.344650268554688e-7
+        X: 0
+        Y: 0
+        Z: 0
       Focal Shape Fixed Size: false
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 1.2197965383529663
+      Pitch: 0.7853983044624329
       Target Frame: helena/base_footprint
-      Value: XYOrbit (rviz)
-      Yaw: 3.293583631515503
+      Value: Orbit (rviz)
+      Yaw: 5.213583946228027
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
   Height: 1025
   Hide Left Dock: false
-  Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd0000000400000000000001d300000323fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000323000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e007200650061006c00730065006e00730065005f0063006f006c006f00720000000288000000d80000001600fffffffb0000000c00540065006c0065006f00700000000315000000b30000004700fffffffb0000001e007200650061006c00730065006e00730065005f0063006f006c006f007200000002f9000001090000000000000000000000010000010f000003dafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000003da000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000007efc0100000003fb00000016006c0069006400610072005f0069006d00610067006501000000000000073d0000008400fffffffb0000000800540069006d006500000000000000073f000004f300fffffffb0000000800540069006d00650100000000000004500000000000000000000005640000032300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001d300000323fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000323000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e007200650061006c00730065006e00730065005f0063006f006c006f00720000000288000000d80000001600fffffffb0000000c00540065006c0065006f00700000000315000000b30000004700fffffffb0000001e007200650061006c00730065006e00730065005f0063006f006c006f007200000002f9000001090000000000000000000000010000010f00000323fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000323000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000007efc0100000003fb00000016006c0069006400610072005f0069006d00610067006501000000000000073d0000008400fffffffb0000000800540069006d006500000000000000073f000004f300fffffffb0000000800540069006d00650100000000000004500000000000000000000005640000032300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Teleop:
@@ -980,7 +968,7 @@ Window Geometry:
   Tool Properties:
     collapsed: false
   Views:
-    collapsed: true
+    collapsed: false
   Width: 1853
   X: 67
   Y: 27