diff --git a/config/bno055_default_config.yaml b/config/bno055_default_config.yaml
index 8e69b890a5680284c103a3db076045a77a0214a0..095be4bc84369fa1f1cc31efe0da635f9b29bcc2 100644
--- a/config/bno055_default_config.yaml
+++ b/config/bno055_default_config.yaml
@@ -1,5 +1,5 @@
 update_rate: 100
-serial_device: '/dev/ttyUSB2'
+serial_device: '/dev/ttyUSB0'
 tf_prefix: ''
 frame_id: 'imu_bno055'
 # 1 -> "Only enable the accelerometer"
diff --git a/config/bno055_ndof_config.yaml b/config/bno055_ndof_config.yaml
index b4f3b343e757b5097ce6ebdccbe8c072d89fc9e8..67bb7f0ad6aa3d8b6ca10a833287c6bb801d32d3 100644
--- a/config/bno055_ndof_config.yaml
+++ b/config/bno055_ndof_config.yaml
@@ -1,5 +1,5 @@
 update_rate: 100
-serial_device: '/dev/ttyUSB2'
+serial_device: '/dev/ttyUSB0'
 tf_prefix: ''
 frame_id: 'imu_bno055'
 # 1 -> "Only enable the accelerometer"
diff --git a/launch/bno055_imu_test.launch b/launch/bno055_imu_test.launch
index 880f362c10133ce124d0a57d0b1a0fc3bb0373ed..77e936a3df1247359f7f4d17f50d74de9c217eec 100644
--- a/launch/bno055_imu_test.launch
+++ b/launch/bno055_imu_test.launch
@@ -11,10 +11,11 @@
   <arg name="output" default="screen" />
   <arg name="launch_prefix" default="" />
 
-  <remap from="/$(arg node_name)/imu" to="/$(arg node_name)/imu_data"/>
+  <arg name="imu_topic" default="/$(arg node_name)/imu" />
+  <arg name="mag_topic" default="/$(arg node_name)/magnetometer" />
 
   <param name="robot_description"
-         command="$(find xacro)/xacro --inorder '$(find iri_bno055_imu_description)/urdf/bno055_imu_example.xacro'" />
+         command="$(find xacro)/xacro '$(find iri_bno055_imu_description)/urdf/bno055_imu_example.xacro'" />
 
   <node pkg="robot_state_publisher" type="robot_state_publisher" name="bno055_tf_broadcaster">
     <param name="tf_prefix" type="string" value="/"/>
@@ -27,6 +28,8 @@
     <arg name="node_name" value="$(arg node_name)"/>
     <arg name="output" value="$(arg output)"/>
     <arg name="launch_prefix" value="$(arg launch_prefix)"/>
+    <arg name="imu_topic" value="$(arg imu_topic)"/>
+    <arg name="mag_topic" value="$(arg mag_topic)"/>
   </include>
 
   <node name="rviz"
diff --git a/rviz/bno055_imu.rviz b/rviz/bno055_imu.rviz
new file mode 100644
index 0000000000000000000000000000000000000000..746535587d5531a1a380f8d8295bbbc3369d20f2
--- /dev/null
+++ b/rviz/bno055_imu.rviz
@@ -0,0 +1,178 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /Imu1
+        - /Imu2
+        - /Imu2/Axes properties1
+      Splitter Ratio: 0.5882353186607361
+    Tree Height: 617
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        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
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        imu_base_parent:
+          Value: true
+        imu_bno055:
+          Value: true
+        imu_bno055_base:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        imu_base_parent:
+          imu_bno055_base:
+            imu_bno055:
+              {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 1
+      Class: rviz_plugin_tutorials/Imu
+      Color: 204; 51; 204
+      Enabled: true
+      History Length: 5
+      Name: Imu
+      Topic: /bno055_imu/imu
+      Unreliable: false
+      Value: true
+    - Acceleration properties:
+        Acc. vector alpha: 1
+        Acc. vector color: 117; 80; 123
+        Acc. vector scale: 0.20000000298023224
+        Derotate acceleration: true
+        Enable acceleration: true
+      Axes properties:
+        Axes scale: 0.30000001192092896
+        Enable axes: true
+      Box properties:
+        Box alpha: 1
+        Box color: 92; 53; 102
+        Enable box: true
+        x_scale: 0.20000000298023224
+        y_scale: 0.10000000149011612
+        z_scale: 0.10000000149011612
+      Class: rviz_imu_plugin/Imu
+      Enabled: true
+      Name: Imu
+      Topic: /bno055_imu/imu
+      Unreliable: false
+      Value: true
+      fixed_frame_orientation: false
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: imu_bno055
+    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
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - 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: 8.365130424499512
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.5097969770431519
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 1.1103976964950562
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002f4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002f4000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002f4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002f4000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004f30000003efc0100000002fb0000000800540069006d00650000000000000004f3000004f300fffffffb0000000800540069006d0065010000000000000450000000000000000000000397000002f400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1267
+  X: 67
+  Y: 0