diff --git a/config/rs16_lidar_default_config.yaml b/config/rs16_lidar_default_config.yaml
index 481e857e5c49898c9aed704142696b97b4ea39d4..7d908026218771f43508dc2cfa5a6239e81fb453 100644
--- a/config/rs16_lidar_default_config.yaml
+++ b/config/rs16_lidar_default_config.yaml
@@ -4,6 +4,7 @@ device_ip: 192.168.1.200
 msop_port: 6699
 difop_port: 7788
 cut_angle: 0
+frame_id: robosense
 
 ##robosense pointcloud
 max_distance: 200
diff --git a/rviz/robosense.rviz b/rviz/robosense.rviz
index 5c340e71e221e63eb39bf87bed1b1836abf13a41..ef2b00d6e48c0101b97652968023032827aa3dff 100644
--- a/rviz/robosense.rviz
+++ b/rviz/robosense.rviz
@@ -29,7 +29,7 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: ""
+    SyncSource: PointCloud2
 Toolbars:
   toolButtonStyle: 2
 Visualization Manager:
@@ -90,11 +90,11 @@ Visualization Manager:
           Alpha: 1
           Show Axes: false
           Show Trail: false
+          Value: true
         robosense_base:
           Alpha: 1
           Show Axes: false
           Show Trail: false
-          Value: true
         rslidar_base_parent:
           Alpha: 1
           Show Axes: false
@@ -121,9 +121,9 @@ Visualization Manager:
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 239
+      Max Intensity: 255
       Min Color: 0; 0; 0
-      Min Intensity: 1
+      Min Intensity: 0.465879768
       Name: PointCloud2
       Position Transformer: XYZ
       Queue Size: 10
@@ -140,7 +140,7 @@ Visualization Manager:
   Global Options:
     Background Color: 48; 48; 48
     Default Light: true
-    Fixed Frame: robosense_base
+    Fixed Frame: rslidar_base_parent
     Frame Rate: 30
   Name: root
   Tools:
@@ -176,10 +176,10 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.00999999978
-      Pitch: 0.300398469
+      Pitch: 0.140398428
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 0.505398631
+      Yaw: 6.23358297
     Saved: ~
 Window Geometry:
   Displays: