diff --git a/launch/include/localization.launch b/launch/include/localization.launch
index 2c1407eebe8563124ee1be4dc1d2f7a12296214c..e2d13f60839295d3cd4f75daa9f57fde7a9b1315 100644
--- a/launch/include/localization.launch
+++ b/launch/include/localization.launch
@@ -3,8 +3,8 @@
 <launch>
 
   <arg name="name" default="model_car"/>
-  <arg name="local_ekf_yaml_file"  default="$(find iri_model_car_rosnav)/params/$(arg name)_local_ekf.yaml"/>
-  <arg name="global_ekf_yaml_file" default="$(find iri_model_car_rosnav)/params/$(arg name)_global_ekf.yaml"/>
+  <arg name="local_ekf_config_file"  default="$(find iri_model_car_rosnav)/params/$(arg name)_local_ekf.yaml"/>
+  <arg name="global_ekf_config_file" default="$(find iri_model_car_rosnav)/params/$(arg name)_global_ekf.yaml"/>
   <arg name="global_loc" default="false"/>
 
   <node pkg="imu_msg_fix" 
@@ -31,16 +31,14 @@
         ns="$(arg name)"
         clear_params="true"
         output="screen">
-    <rosparam command="load" file="$(arg local_ekf_yaml_file)" />
+    <rosparam command="load" file="$(arg local_ekf_config_file)" />
     <remap from="odometry/filtered" to="/$(arg name)/local_odom_combined"/>
   </node>
-
-  <!--
+  
   <node pkg="tf" 
         type="static_transform_publisher" 
         name="map_transform" args="0 0 0 0 0 0 map model_car/odom 20"
         unless="$(arg global_loc)"/> 
-  -->
 
   <node pkg="robot_localization" 
         type="ekf_localization_node" 
@@ -49,58 +47,7 @@
         clear_params="true"
         output="screen"
         if="$(arg global_loc)"> 
-    <rosparam command="load" file="$(arg global_ekf_yaml_file)" />
+    <rosparam command="load" file="$(arg global_ekf_config_file)" />
     <remap from="odometry/filtered" to="/$(arg name)/global_odom_combined"/>
   </node>
-
-  <!--
-  <node pkg="robot_localization" 
-        type="navsat_transform_node" 
-        name="navsat_transform_node"
-        output="screen"
-        respawn="false"
-        if="$(arg global_loc)"> 
-    <param name="frequency"                    value="4"/>
-    <param name="delay"                        value="0.0"/>
-    <param name="magnetic_declination_radians" value="0.0"/> 
-    <param name="yaw_offset"                   value="0.0"/> 
-    <param name="zero_altitude"                value="True"/>
-    <param name="publish_filtered_gps"         value="true"/>
-    <param name="broadcast_utm_transform"      value="true"/>
-    <param name="wait_for_datum"               value="true"/>
-    <rosparam param="datum">[0.0, 0.0, 0.0]</rosparam>
-    <param name="use_odometry_yaw"             value="false"/>
-    <param name="broadcast_utm_transform_as_parent_frame"  value="true"/>
-    <param name="trasnform_timeout"            value="0.1"/>
-    <remap from="/odometry/filtered"           to="/$(arg name)/global_odom_combined" />
-    <remap from="/odometry/gps"                to="/$(arg name)/gps_odometry" />
-  </node>
-  -->
-
-  <!--
-  <node pkg="robot_localization" 
-        type="navsat_transform_node" 
-        name="navsat_transform_node"
-        output="screen"
-        respawn="false"
-        if="$(arg global_loc)"> 
-    <param name="frequency"                    value="4"/>
-    <param name="delay"                        value="0.0"/>
-    <param name="magnetic_declination_radians" value="0.0"/> 
-    <param name="yaw_offset"                   value="1.5707"/> 
-    <param name="zero_altitude"                value="True"/>
-    <param name="publish_filtered_gps"         value="true"/>
-    <param name="broadcast_utm_transform"      value="false"/>
-    <param name="wait_for_datum"               value="false"/>
-    <rosparam param="datum">[0.0, 0.0, 0.0]</rosparam>
-    <param name="use_odometry_yaw"             value="false"/>
-    <param name="broadcast_utm_transform_as_parent_frame"  value="false"/>
-    <param name="trasnform_timeout"            value="0.1"/>
-    <remap from="/imu/data"                    to="/$(arg name)/imu_enu" />
-    <remap from="/gps/fix"                     to="/$(arg name)/gps_fix" />
-    <remap from="/odometry/filtered"           to="/$(arg name)/global_odom_combined" />
-    <remap from="/odometry/gps"                to="/$(arg name)/gps_odometry" />
-  </node>
-  -->
-
 </launch>
diff --git a/launch/nav_map.launch b/launch/nav_map.launch
index bf13f468a506f02561c06890d7b7471f32369900..a23c6fe17ef1dfa6c3b0a21671e7544e39eb7ec1 100644
--- a/launch/nav_map.launch
+++ b/launch/nav_map.launch
@@ -3,30 +3,23 @@
 <launch>
 
   <arg name="name"                    default="model_car"/>
-  <arg name="params_path"             default="$(find iri_model_car_rosnav)/params"/>
+  <arg name="output"                  default="screen" />
+  <arg name="launch_prefix"           default="" />
   <arg name="move_base_params"        default="move_base_params.yaml"/>
   <arg name="costmap_common_params"   default="common_params.yaml"/>
   <arg name="costmap_local_params"    default="local_params.yaml"/>
   <arg name="costmap_global_params"   default="global_params.yaml"/>
-  <arg name="local_planner"           default="ackermann"/>
-  <arg name="global_planner"          default="sbpl"/>
-  <arg name="odom_topic"              default="/$(arg name)/odom_combined_local"/>
-  <arg name="cmd_vel_topic"           default="/$(arg name)/navigation/cmd_vel"/>
-  <arg name="map_path"                default="$(find iri_maps)/map"/>
+  <arg name="map_path"                default="$(find iri_model_car_rosnav)/maps"/>
   <arg name="map_name"                default="empty" />
-  <arg name="amcl_config"             default="$(find iri_model_car_rosnav)/params/amcl_no_tf.yaml"/>
   <arg name="initial_x"               default="0.0"/>
   <arg name="initial_y"               default="0.0"/>
   <arg name="initial_yaw"             default="0.0"/>
-  <arg name="output"                  default="screen" />
-  <arg name="launch_prefix"           default="" />
-
-  <arg name="opendrive_file_path"         default="$(find iri_model_car_rosnav)"/>
-  <arg name="opendrive_file_name"         default="adc_road"/>
+  <arg name="local_ekf_config_file"   default="$(find iri_model_car_rosnav)/params/local_ekf_odom_imu.yaml"/>
+  <arg name="global_ekf_config_file"   default="$(find iri_model_car_rosnav)/params/global_ekf_odom_imu_amcl.yaml"/>
 
   <include file="$(find iri_rosnav)/launch/nav.launch">
     <arg name="ns"                      value="$(arg name)"/>
-    <arg name="path"                    value="$(arg params_path)"/>
+    <arg name="path"                    value="$(find iri_model_car_rosnav)/params"/>
     <arg name="move_base_params"        value="$(arg move_base_params)"/>
     <arg name="costmap_common_params"   value="$(arg costmap_common_params)"/>
     <arg name="costmap_local_params"    value="$(arg costmap_local_params)"/>
@@ -36,32 +29,33 @@
     <arg name="base_frame_id"           value="$(arg name)/base_footprint"/>
     <arg name="map_topic"               value="/$(arg name)/map"/>
     <arg name="map_service"             value="/$(arg name)/static_map"/>
-    <arg name="odom_topic"              value="$(arg odom_topic)"/>
-    <arg name="cmd_vel_topic"           value="$(arg cmd_vel_topic)"/>
+    <arg name="odom_topic"              value="/$(arg name)/local_odom_combined"/>
+    <arg name="cmd_vel_topic"           value="/$(arg name)/navigation/cmd_vel"/>
     <arg name="scan_topic"              value="/$(arg name)/sensors/scan"/>
     <arg name="use_map"                 value="true"/>
     <arg name="use_map_server"          value="true"/> 
     <arg name="map_path"                value="$(arg map_path)"/>
     <arg name="map_name"                value="$(arg map_name)"/>
     <arg name="use_amcl"                value="true"/>
-    <arg name="amcl_config"             value="$(arg amcl_config)"/>
+    <arg name="amcl_config"             value="$(find iri_model_car_rosnav)/params/amcl_no_tf.yaml"/>
     <arg name="initial_x"               value="$(arg initial_x)"/>
     <arg name="initial_y"               value="$(arg initial_y)"/>
     <arg name="initial_yaw"             value="$(arg initial_yaw)"/>
     <arg name="use_fake_loc"            value="false"/>
     <arg name="use_gmapping"            value="false"/>
-    <arg name="local_planner"           value="$(arg local_planner)"/>
-    <arg name="global_planner"          value="$(arg global_planner)"/>
+    <arg name="local_planner"           value="ackermann"/>
+    <arg name="global_planner"          value="sbpl"/>
     <arg name="output"                  value="$(arg output)" />
     <arg name="launch_prefix"           value="$(arg launch_prefix)" />
   </include>
 
-  <group  if="$(eval global_planner == 'sbpl')">
-    <param name="/$(arg name)/move_base/SBPLLatticePlanner/primitive_filename" value="$(find iri_model_car_rosnav)/model_car.mprim" />
-  </group>
+  <include file="$(find iri_model_car_rosnav)/launch/include/localization.launch">
+    <arg name="name"                    value="$(arg name)"/>
+    <arg name="local_ekf_config_file"   value="$(arg local_ekf_config_file)"/>
+    <arg name="global_ekf_config_file"  value="$(arg global_ekf_config_file)"/>
+    <arg name="global_loc"              value="true"/>
+  </include>
 
-  <group  if="$(eval global_planner == 'iri_opendrive')">
-    <param name="/$(arg name)/move_base/OpendriveGlobalPlanner/opendrive_file" value="$(arg opendrive_file_path)/$(arg opendrive_file_name).xodr" />
-  </group>
+  <param name="/$(arg name)/move_base/SBPLLatticePlanner/primitive_filename" value="$(find iri_model_car_rosnav)/model_car.mprim" />
 
 </launch>
diff --git a/launch/nav_mapping.launch b/launch/nav_mapping.launch
index 956bc4963f2e7dfad7ad09c6427572c27d2f73de..b476138061d875541b0318bcd685fb530fb916a7 100644
--- a/launch/nav_mapping.launch
+++ b/launch/nav_mapping.launch
@@ -7,16 +7,11 @@
   <arg name="costmap_common_params"   default="common_params.yaml"/>
   <arg name="costmap_local_params"    default="local_params.yaml"/>
   <arg name="costmap_global_params"   default="global_params.yaml"/>
-  <arg name="odom_topic"              default="/$(arg name)/odom"/>
   <arg name="map_frame_id"            default="map"/>
-  <arg name="resolution"              default="0.01"/>
-  <arg name="local_planner"           default="ackermann"/>
-  <arg name="global_planner"          default="iri_opendrive"/>
+  <arg name="resolution"              default="0.05"/>
   <arg name="output"                  default="screen" />
   <arg name="launch_prefix"           default="" />
-
-  <arg name="opendrive_file_path"         default="$(find iri_model_car_rosnav)"/>
-  <arg name="opendrive_file_name"         default="adc_road"/>
+  <arg name="local_ekf_config_file"   default="$(find iri_model_car_rosnav)/params/local_ekf_odom_imu.yaml"/>
 
   <include file="$(find iri_rosnav)/launch/nav.launch">
     <arg name="ns"                    value="$(arg name)"/>
@@ -30,8 +25,8 @@
     <arg name="base_frame_id"         value="$(arg name)/base_footprint"/>
     <arg name="map_topic"             value="/$(arg name)/map"/>
     <arg name="map_service"           value="/$(arg name)/static_map"/>
-    <arg name="odom_topic"            value="$(arg odom_topic)"/>
-    <arg name="cmd_vel_topic"         value="/$(arg name)/cmd_vel"/>
+    <arg name="odom_topic"            value="/$(arg name)/local_odom_combined"/>
+    <arg name="cmd_vel_topic"         value="/$(arg name)/navigation/cmd_vel"/>
     <arg name="scan_topic"            value="/$(arg name)/sensors/scan"/>
     <arg name="use_map"               value="true"/>
     <arg name="use_map_server"        value="false"/> 
@@ -42,18 +37,19 @@
     <arg name="gmapping_scan_topic"   value="/$(arg name)/sensors/scan"/>
     <arg name="gmapping_config"       value="$(find iri_model_car_rosnav)/params/gmapping.yaml"/>
     <arg name="resolution"            value="$(arg resolution)"/>
-    <arg name="local_planner"         value="$(arg local_planner)"/>
-    <arg name="global_planner"        value="$(arg global_planner)"/>
+    <arg name="local_planner"         value="ackermann"/>
+    <arg name="global_planner"        value="sbpl"/>
     <arg name="output"                value="$(arg output)" />
     <arg name="launch_prefix"         value="$(arg launch_prefix)" />
   </include>
 
-  <group  if="$(eval global_planner == 'sbpl')">
-    <param name="/$(arg name)/move_base/SBPLLatticePlanner/primitive_filename" value="$(find iri_model_car_rosnav)/model_car.mprim" />
-  </group>
+  <include file="$(find iri_model_car_rosnav)/launch/include/localization.launch">
+    <arg name="name"                   value="$(arg name)"/>
+    <arg name="local_ekf_config_file"  value="$(arg local_ekf_config_file)"/>
+    <arg name="global_loc"             value="false"/>
+  </include>
+
+  <param name="/$(arg name)/move_base/SBPLLatticePlanner/primitive_filename" value="$(find iri_model_car_rosnav)/model_car.mprim" />
 
-  <group  if="$(eval global_planner == 'iri_opendrive')">
-    <param name="/$(arg name)/move_base/OpendriveGlobalPlanner/opendrive_file" value="$(arg opendrive_file_path)/$(arg opendrive_file_name).xodr" />
-  </group>
 </launch>
 
diff --git a/launch/nav_nomap.launch b/launch/nav_nomap.launch
index a29846d7cb1fb89c268f5620fc8871fbb2096e93..8a880a54643bf87551f4f28a38e55d6c9d129144 100644
--- a/launch/nav_nomap.launch
+++ b/launch/nav_nomap.launch
@@ -3,15 +3,13 @@
 <launch>
 
   <arg name="name"                    default="model_car"/>
+  <arg name="output"                  default="screen" />
+  <arg name="launch_prefix"           default="" />
   <arg name="move_base_params"        default="move_base_params.yaml"/>
   <arg name="costmap_common_params"   default="common_params.yaml"/>
   <arg name="costmap_local_params"    default="local_params.yaml"/>
   <arg name="costmap_global_params"   default="global_params.yaml"/>
-  <arg name="local_planner"           default="ackermann"/>
-  <arg name="global_planner"          default="sbpl"/>
-  <arg name="odom_topic"              default="/$(arg name)/odom"/>
-  <arg name="output"                  default="screen" />
-  <arg name="launch_prefix"           default="" />
+  <arg name="local_ekf_config_file"   default="$(find iri_model_car_rosnav)/params/local_ekf_odom_imu.yaml"/>
 
   <include file="$(find iri_rosnav)/launch/nav.launch">
     <arg name="ns"                      value="$(arg name)"/>
@@ -25,8 +23,8 @@
     <arg name="base_frame_id"           value="$(arg name)/base_footprint"/>
     <arg name="map_topic"               value="/$(arg name)/map"/>
     <arg name="map_service"             value="/$(arg name)/static_map"/>
-    <arg name="odom_topic"              value="$(arg odom_topic)"/>
-    <arg name="cmd_vel_topic"           value="/$(arg name)/cmd_vel"/>
+    <arg name="odom_topic"              value="/$(arg name)/local_odom_combined"/>
+    <arg name="cmd_vel_topic"           value="/$(arg name)/navigation/cmd_vel"/>
     <arg name="scan_topic"              value="/$(arg name)/sensors/scan"/>
     <arg name="use_map"                 value="false"/>
     <arg name="use_map_server"          value="false"/> 
@@ -34,18 +32,18 @@
     <arg name="use_amcl"                value="false"/>
     <arg name="use_fake_loc"            value="false"/>
     <arg name="use_gmapping"            value="false"/>
-    <arg name="local_planner"           value="$(arg local_planner)"/>
-    <arg name="global_planner"          value="$(arg global_planner)"/>
+    <arg name="local_planner"           value="ackermann"/>
+    <arg name="global_planner"          value="sbpl"/>
     <arg name="output"                  value="$(arg output)" />
     <arg name="launch_prefix"           value="$(arg launch_prefix)" />
   </include>
 
-  <group  if="$(eval global_planner == 'sbpl')">
-    <param name="/$(arg name)/move_base/SBPLLatticePlanner/primitive_filename" value="$(find iri_model_car_rosnav)/model_car.mprim" />
-  </group>
+  <include file="$(find iri_model_car_rosnav)/launch/include/localization.launch">
+    <arg name="name"                   value="$(arg name)"/>
+    <arg name="local_ekf_config_file"  value="$(arg local_ekf_config_file)"/>
+    <arg name="global_loc"             value="false"/>
+  </include>
 
-  <group  if="$(eval global_planner == 'iri_opendrive')">
-    <param name="/$(arg name)/move_base/OpendriveGlobalPlanner/opendrive_file" value="$(arg opendrive_file_path)/$(arg opendrive_file_name).xodr" />
-  </group>
+  <param name="/$(arg name)/move_base/SBPLLatticePlanner/primitive_filename" value="$(find iri_model_car_rosnav)/model_car.mprim" />
 
 </launch>
diff --git a/params/gmapping.yaml b/params/gmapping.yaml
index e9c495879e03edeb158d429e87f9b0a9cf030340..421e30c489c0c6e31389508a2fd53585669cb716 100644
--- a/params/gmapping.yaml
+++ b/params/gmapping.yaml
@@ -8,12 +8,12 @@ iterations: 10
 lsigma:     0.075
 ogain:      3.0
 lskip: 0
-minimumScore: 50
+minimumScore: 0
 srr: 0.001
 srt: 0.002
 str: 0.001
 stt: 0.002
-linearUpdate:      0.2
+linearUpdate:      0.05
 angularUpdate:     0.1
 temporalUpdate:    -1.0
 resampleThreshold: 0.5
@@ -24,7 +24,7 @@ ymin: -5.0
 xmax:  5.0
 ymax:  5.0
 
-delta: 0.01
+delta: 0.05
 llsamplerange: 0.01
 llsamplestep:  0.01
 lasamplerange: 0.005
diff --git a/params/local_planner/ackermann_params.yaml b/params/local_planner/ackermann_params.yaml
index 1aa1eeae513e55e06fc485653f943102f2faf192..46cc01c82005b80c5f1f8bc756eec0b31ae7b911 100644
--- a/params/local_planner/ackermann_params.yaml
+++ b/params/local_planner/ackermann_params.yaml
@@ -23,7 +23,7 @@ AckermannPlannerROS:
   steer_angle_samples: 21
 
   prune_plan: true
-  xy_goal_tolerance: 0.25
+  xy_goal_tolerance: 0.1
   yaw_goal_tolerance: 0.5
   trans_stopped_vel: 0.1
   rot_stopped_vel: 0.1
@@ -31,7 +31,7 @@ AckermannPlannerROS:
   restore_defaults: false
 
   max_trans_vel: 1.0
-  min_trans_vel: 0.0
+  min_trans_vel: -1.0
   max_trans_acc: 0.2
   max_steer_angle: 0.4
   min_steer_angle: -0.4
@@ -42,7 +42,7 @@ AckermannPlannerROS:
   wheel_distance: 0.216
   wheel_radius: 0.05
 
-  split_ignore_lenght: 0.1
+  split_ignore_length: 0.1
 
   cmd_vel_avg: 1
   odom_avg: 1
diff --git a/params/local_planner/ackermann_sbpl_params.yaml b/params/local_planner/ackermann_sbpl_params.yaml
deleted file mode 100644
index 7826af5700280e05b9a4080c49bcb10193ea16ae..0000000000000000000000000000000000000000
--- a/params/local_planner/ackermann_sbpl_params.yaml
+++ /dev/null
@@ -1,53 +0,0 @@
-base_local_planner: "AckermannPlannerROS"
-
-AckermannPlannerROS:
-  max_sim_time: 3.0
-  min_sim_time: 1.0
-  sim_granularity: 0.2
-  angular_sim_granularity: 0.02
-
-  path_distance_bias: 50.0
-  goal_distance_bias: 10.0
-  occdist_scale: 0.05
-
-#  stop_time_buffer: 
-  oscillation_reset_dist: 0.002
-  oscillation_reset_angle: 0.001
-
-#  forward_point_distance:
-
-#  scaling_speed:
-#  max_scaling_factor:
-
-  trans_vel_samples: 31
-  steer_angle_samples: 21
-
-  prune_plan: true
-  xy_goal_tolerance: 0.25
-  yaw_goal_tolerance: 0.5
-  trans_stopped_vel: 0.1
-  rot_stopped_vel: 0.1
-
-  restore_defaults: false
-
-  max_trans_vel: 1.0
-  min_trans_vel: -1.0
-  max_trans_acc: 0.2
-  max_steer_angle: 0.4
-  min_steer_angle: -0.4
-  max_steer_vel: 0.3
-  min_steer_vel: -0.3
-  max_steer_acc: 1.0
-  axis_distance: 0.3662
-  wheel_distance: 0.216
-  wheel_radius: 0.05
-
-  split_ignore_length: 0.1
-
-  cmd_vel_avg: 1
-  odom_avg: 1
-
-  planner_patience: 5
-
-  hdiff_scale: 0.5
-  heading_points: 8
diff --git a/rviz/model_car_gmapping.rviz b/rviz/model_car_gmapping.rviz
index 96f5b49ba82ca9228146496bd150ac3ad1722b22..8a97e6e027e54376b180be0ef6705b0b5bd0ee94 100644
--- a/rviz/model_car_gmapping.rviz
+++ b/rviz/model_car_gmapping.rviz
@@ -8,10 +8,9 @@ Panels:
         - /CircuitModels1/RoadModel1
         - /CircuitModels1/stopModel1
         - /Sensors1
-        - /Sensors1/GroundTruthOdometry1
         - /Sensors1/GroundTruthOdometry1/Shape1
-        - /Sensors1/EKFOdometry1
-        - /Sensors1/EKFOdometry1/Shape1
+        - /Sensors1/OdometryFused1
+        - /Sensors1/OdometryFused1/Shape1
         - /Sensors1/Odometry1/Shape1
         - /global_planner1/global_plan1
       Splitter Ratio: 0.625
@@ -384,7 +383,7 @@ Visualization Manager:
           Topic: /model_car/odom_ground_truth
           Unreliable: false
           Value: true
-        - Angle Tolerance: 0.10000000149011612
+        - Angle Tolerance: 0.5
           Class: rviz/Odometry
           Covariance:
             Orientation:
@@ -403,13 +402,13 @@ Visualization Manager:
             Value: false
           Enabled: true
           Keep: 100
-          Name: EKFOdometry
-          Position Tolerance: 0.10000000149011612
+          Name: OdometryFused
+          Position Tolerance: 0.5
           Shape:
             Alpha: 1
             Axes Length: 1
             Axes Radius: 0.10000000149011612
-            Color: 143; 89; 2
+            Color: 252; 233; 79
             Head Length: 0.10000000149011612
             Head Radius: 0.05000000074505806
             Shaft Length: 0.4000000059604645
diff --git a/rviz/model_car_no_map.rviz b/rviz/model_car_map_ekf.rviz
similarity index 83%
rename from rviz/model_car_no_map.rviz
rename to rviz/model_car_map_ekf.rviz
index a1b2a888823d5079c8abc7b2d3cf815d2b8b7c2d..f1336196a03b1d5701db0a57e1198b8a83b0754c 100644
--- a/rviz/model_car_no_map.rviz
+++ b/rviz/model_car_map_ekf.rviz
@@ -5,12 +5,10 @@ Panels:
     Property Tree Widget:
       Expanded:
         - /Global Options1
-        - /RobotModel1
         - /Sensors1
         - /Sensors1/GroundTruthOdometry1/Shape1
         - /Sensors1/Odometry1/Shape1
-        - /local_planner1
-        - /global_planner1
+        - /global_planner1/global_plan1/Status1
       Splitter Ratio: 0.625
     Tree Height: 794
   - Class: rviz/Selection
@@ -174,140 +172,18 @@ Visualization Manager:
     - Alpha: 1
       Class: rviz/RobotModel
       Collision Enabled: false
-      Enabled: true
+      Enabled: false
       Links:
         All Links Enabled: true
         Expand Joint Details: false
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
-        base_footprint:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        base_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        body:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        front_camera_uvc_camera_base:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        front_camera_uvc_camera_optical:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        front_left_wheel:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        front_lidar_rplidar_base:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        front_lidar_rplidar_scan_frame:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        front_right_wheel:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        imu_mpu9250:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        imu_mpu9250_base:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        rear_camera_uvc_camera_base:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        rear_camera_uvc_camera_optical:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        rear_center_base:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        rear_center_ranger1d:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        rear_left_base:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        rear_left_ranger1d:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        rear_left_wheel:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        rear_right_base:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        rear_right_ranger1d:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        rear_right_wheel:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        side_left_base:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        side_left_ranger1d:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        side_right_base:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        side_right_ranger1d:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        steer_left:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        steer_right:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
       Name: RobotModel
       Robot Description: model_car/robot_description
       TF Prefix: model_car
       Update Interval: 0
-      Value: true
+      Value: false
       Visual Enabled: true
     - Class: rviz/Group
       Displays:
@@ -345,6 +221,40 @@ Visualization Manager:
           Topic: /model_car/odom_ground_truth
           Unreliable: false
           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: 0.30000001192092896
+              Color: 204; 51; 204
+              Scale: 1
+              Value: true
+            Value: false
+          Enabled: true
+          Keep: 100
+          Name: OdometryFused
+          Position Tolerance: 0.5
+          Shape:
+            Alpha: 1
+            Axes Length: 1
+            Axes Radius: 0.10000000149011612
+            Color: 252; 233; 79
+            Head Length: 0.10000000149011612
+            Head Radius: 0.05000000074505806
+            Shaft Length: 0.4000000059604645
+            Shaft Radius: 0.02500000037252903
+            Value: Arrow
+          Topic: /model_car/local_odom_combined
+          Unreliable: false
+          Value: true
         - Angle Tolerance: 0.5
           Class: rviz/Odometry
           Covariance:
@@ -603,6 +513,16 @@ Visualization Manager:
       Topic: /model_car/move_base/global_costmap/footprint
       Unreliable: false
       Value: true
+    - Alpha: 0.699999988079071
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: amcl_map
+      Topic: /model_car/map
+      Unreliable: false
+      Use Timestamp: false
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 26; 26; 26
@@ -631,16 +551,16 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 29.392362594604492
+      Distance: 11.253925323486328
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 2.802766799926758
-        Y: 0.24340493977069855
-        Z: 0.3304859399795532
+        X: 3.3934614658355713
+        Y: 0.5182212591171265
+        Z: 0.33107441663742065
       Focal Shape Fixed Size: false
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
@@ -649,7 +569,7 @@ Visualization Manager:
       Pitch: 1.5697963237762451
       Target Frame: base_link
       Value: Orbit (rviz)
-      Yaw: 3.1353960037231445
+      Yaw: 3.1303958892822266
     Saved: ~
 Window Geometry:
   Displays:
@@ -657,7 +577,7 @@ Window Geometry:
   Height: 1025
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 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
+  QMainWindow State: 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
   Selection:
     collapsed: false
   Time:
diff --git a/rviz/model_car_opendrive.rviz b/rviz/model_car_opendrive.rviz
deleted file mode 100644
index 4151b7fc4574e705e3ec32ec1e3c85b6150a7d27..0000000000000000000000000000000000000000
--- a/rviz/model_car_opendrive.rviz
+++ /dev/null
@@ -1,731 +0,0 @@
-Panels:
-  - Class: rviz/Displays
-    Help Height: 80
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /Global Options1
-        - /RobotModel1
-        - /CircuitModels1/RoadModel1
-        - /CircuitModels1/stopModel1
-        - /Sensors1
-        - /Sensors1/GroundTruthOdometry1/Shape1
-        - /Sensors1/Odometry1/Shape1
-        - /local_planner1
-        - /global_planner1
-        - /global_planner1/global_plan1
-      Splitter Ratio: 0.625
-    Tree Height: 794
-  - 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: rear_camera_Image
-Preferences:
-  PromptSaveOnExit: true
-Toolbars:
-  toolButtonStyle: 2
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Alpha: 0.10000000149011612
-      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: 0.5
-        Y: 0.5
-        Z: 0.009999999776482582
-      Plane: XY
-      Plane Cell Count: 20
-      Reference Frame: <Fixed Frame>
-      Value: true
-    - Class: rviz/TF
-      Enabled: true
-      Frame Timeout: 15
-      Frames:
-        All Enabled: true
-        adc_road_big_base_link:
-          Value: true
-        adc_road_big_image:
-          Value: true
-        map:
-          Value: true
-        model_car/base_footprint:
-          Value: true
-        model_car/base_link:
-          Value: true
-        model_car/body:
-          Value: true
-        model_car/front_camera_uvc_camera_base:
-          Value: true
-        model_car/front_camera_uvc_camera_optical:
-          Value: true
-        model_car/front_left_wheel:
-          Value: true
-        model_car/front_lidar_rplidar_base:
-          Value: true
-        model_car/front_lidar_rplidar_scan_frame:
-          Value: true
-        model_car/front_right_wheel:
-          Value: true
-        model_car/imu_mpu9250:
-          Value: true
-        model_car/imu_mpu9250_base:
-          Value: true
-        model_car/odom:
-          Value: true
-        model_car/rear_camera_uvc_camera_base:
-          Value: true
-        model_car/rear_camera_uvc_camera_optical:
-          Value: true
-        model_car/rear_center_base:
-          Value: true
-        model_car/rear_center_ranger1d:
-          Value: true
-        model_car/rear_left_base:
-          Value: true
-        model_car/rear_left_ranger1d:
-          Value: true
-        model_car/rear_left_wheel:
-          Value: true
-        model_car/rear_right_base:
-          Value: true
-        model_car/rear_right_ranger1d:
-          Value: true
-        model_car/rear_right_wheel:
-          Value: true
-        model_car/side_left_base:
-          Value: true
-        model_car/side_left_ranger1d:
-          Value: true
-        model_car/side_right_base:
-          Value: true
-        model_car/side_right_ranger1d:
-          Value: true
-        model_car/steer_left:
-          Value: true
-        model_car/steer_right:
-          Value: true
-      Marker Scale: 0.25
-      Name: TF
-      Show Arrows: false
-      Show Axes: true
-      Show Names: true
-      Tree:
-        map:
-          adc_road_big_base_link:
-            adc_road_big_image:
-              {}
-          model_car/odom:
-            model_car/base_footprint:
-              model_car/base_link:
-                model_car/body:
-                  {}
-                model_car/front_camera_uvc_camera_base:
-                  model_car/front_camera_uvc_camera_optical:
-                    {}
-                model_car/front_lidar_rplidar_base:
-                  model_car/front_lidar_rplidar_scan_frame:
-                    {}
-                model_car/imu_mpu9250_base:
-                  model_car/imu_mpu9250:
-                    {}
-                model_car/rear_camera_uvc_camera_base:
-                  model_car/rear_camera_uvc_camera_optical:
-                    {}
-                model_car/rear_center_base:
-                  model_car/rear_center_ranger1d:
-                    {}
-                model_car/rear_left_base:
-                  model_car/rear_left_ranger1d:
-                    {}
-                model_car/rear_left_wheel:
-                  {}
-                model_car/rear_right_base:
-                  model_car/rear_right_ranger1d:
-                    {}
-                model_car/rear_right_wheel:
-                  {}
-                model_car/side_left_base:
-                  model_car/side_left_ranger1d:
-                    {}
-                model_car/side_right_base:
-                  model_car/side_right_ranger1d:
-                    {}
-                model_car/steer_left:
-                  model_car/front_left_wheel:
-                    {}
-                model_car/steer_right:
-                  model_car/front_right_wheel:
-                    {}
-      Update Interval: 0
-      Value: true
-    - Alpha: 1
-      Class: rviz/RobotModel
-      Collision Enabled: false
-      Enabled: true
-      Links:
-        All Links Enabled: true
-        Expand Joint Details: false
-        Expand Link Details: false
-        Expand Tree: false
-        Link Tree Style: Links in Alphabetic Order
-        base_footprint:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        base_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        body:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        front_camera_uvc_camera_base:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        front_camera_uvc_camera_optical:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        front_left_wheel:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        front_lidar_rplidar_base:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        front_lidar_rplidar_scan_frame:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        front_right_wheel:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        imu_mpu9250:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        imu_mpu9250_base:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        rear_camera_uvc_camera_base:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        rear_camera_uvc_camera_optical:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        rear_center_base:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        rear_center_ranger1d:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        rear_left_base:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        rear_left_ranger1d:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        rear_left_wheel:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        rear_right_base:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        rear_right_ranger1d:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        rear_right_wheel:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        side_left_base:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        side_left_ranger1d:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        side_right_base:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        side_right_ranger1d:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        steer_left:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        steer_right:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-      Name: RobotModel
-      Robot Description: model_car/robot_description
-      TF Prefix: model_car
-      Update Interval: 0
-      Value: true
-      Visual Enabled: true
-    - Class: rviz/Group
-      Displays:
-        - Alpha: 0.8999999761581421
-          Class: rviz/RobotModel
-          Collision Enabled: false
-          Enabled: true
-          Links:
-            All Links Enabled: true
-            Expand Joint Details: false
-            Expand Link Details: false
-            Expand Tree: false
-            Link Tree Style: Links in Alphabetic Order
-            adc_road_big_base_link:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-              Value: true
-            adc_road_big_image:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-              Value: true
-          Name: RoadModel
-          Robot Description: road_description
-          TF Prefix: ""
-          Update Interval: 0
-          Value: true
-          Visual Enabled: true
-        - Alpha: 1
-          Class: rviz/RobotModel
-          Collision Enabled: false
-          Enabled: true
-          Links:
-            All Links Enabled: true
-            Expand Joint Details: false
-            Expand Link Details: false
-            Expand Tree: false
-            Link Tree Style: Links in Alphabetic Order
-          Name: stopModel
-          Robot Description: stop_description
-          TF Prefix: ""
-          Update Interval: 0
-          Value: true
-          Visual Enabled: true
-      Enabled: true
-      Name: CircuitModels
-    - 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: 0.30000001192092896
-              Color: 204; 51; 204
-              Scale: 1
-              Value: true
-            Value: true
-          Enabled: true
-          Keep: 1000
-          Name: GroundTruthOdometry
-          Position Tolerance: 0.5
-          Shape:
-            Alpha: 1
-            Axes Length: 1
-            Axes Radius: 0.10000000149011612
-            Color: 0; 255; 255
-            Head Length: 0.10000000149011612
-            Head Radius: 0.05000000074505806
-            Shaft Length: 0.4000000059604645
-            Shaft Radius: 0.02500000037252903
-            Value: Arrow
-          Topic: /model_car/odom_ground_truth
-          Unreliable: false
-          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: 0.30000001192092896
-              Color: 204; 51; 204
-              Scale: 1
-              Value: true
-            Value: true
-          Enabled: true
-          Keep: 100
-          Name: Odometry
-          Position Tolerance: 0.5
-          Shape:
-            Alpha: 1
-            Axes Length: 1
-            Axes Radius: 0.10000000149011612
-            Color: 255; 25; 0
-            Head Length: 0.10000000149011612
-            Head Radius: 0.05000000074505806
-            Shaft Length: 0.4000000059604645
-            Shaft Radius: 0.02500000037252903
-            Value: Arrow
-          Topic: /model_car/odom
-          Unreliable: false
-          Value: true
-        - Class: rviz/Group
-          Displays:
-            - Alpha: 0.5
-              Buffer Length: 1
-              Class: rviz/Range
-              Color: 255; 255; 255
-              Enabled: true
-              Name: side_right_range
-              Queue Size: 100
-              Topic: /model_car/sensors/range/side_right_sonar
-              Unreliable: false
-              Value: true
-            - Alpha: 0.5
-              Buffer Length: 1
-              Class: rviz/Range
-              Color: 255; 255; 255
-              Enabled: true
-              Name: side_left_range
-              Queue Size: 100
-              Topic: /model_car/sensors/range/side_left_sonar
-              Unreliable: false
-              Value: true
-            - Alpha: 0.5
-              Buffer Length: 1
-              Class: rviz/Range
-              Color: 255; 255; 255
-              Enabled: true
-              Name: rear_right_range
-              Queue Size: 100
-              Topic: /model_car/sensors/range/rear_right_sonar
-              Unreliable: false
-              Value: true
-            - Alpha: 0.5
-              Buffer Length: 1
-              Class: rviz/Range
-              Color: 255; 255; 255
-              Enabled: true
-              Name: rear_left_range
-              Queue Size: 100
-              Topic: /model_car/sensors/range/rear_left_sonar
-              Unreliable: false
-              Value: true
-            - Alpha: 0.5
-              Buffer Length: 1
-              Class: rviz/Range
-              Color: 255; 255; 255
-              Enabled: true
-              Name: rear_center_range
-              Queue Size: 100
-              Topic: /model_car/sensors/range/rear_center_sonar
-              Unreliable: false
-              Value: true
-          Enabled: false
-          Name: Sonars
-        - Alpha: 1
-          Class: rviz_plugin_tutorials/Imu
-          Color: 204; 51; 204
-          Enabled: false
-          History Length: 1
-          Name: Imu
-          Topic: /model_car/sensors/imu_data
-          Unreliable: false
-          Value: false
-        - Class: rviz/Image
-          Enabled: true
-          Image Topic: /model_car/sensors/delock_camera/image_raw
-          Max Value: 1
-          Median window: 5
-          Min Value: 0
-          Name: rear_camera_Image
-          Normalize Range: true
-          Queue Size: 2
-          Transport Hint: raw
-          Unreliable: false
-          Value: true
-        - Class: rviz/Image
-          Enabled: true
-          Image Topic: /model_car/sensors/basler_camera/image_raw
-          Max Value: 1
-          Median window: 5
-          Min Value: 0
-          Name: front_camera_Image
-          Normalize Range: true
-          Queue Size: 2
-          Transport Hint: compressed
-          Unreliable: false
-          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; 255; 255
-          Color Transformer: Intensity
-          Decay Time: 0
-          Enabled: true
-          Invert Rainbow: false
-          Max Color: 255; 255; 255
-          Max Intensity: 0
-          Min Color: 0; 0; 0
-          Min Intensity: 0
-          Name: RP_Lidar
-          Position Transformer: XYZ
-          Queue Size: 10
-          Selectable: true
-          Size (Pixels): 3
-          Size (m): 0.009999999776482582
-          Style: Points
-          Topic: /model_car/sensors/scan
-          Unreliable: false
-          Use Fixed Frame: true
-          Use rainbow: true
-          Value: true
-      Enabled: true
-      Name: Sensors
-    - Class: rviz/Group
-      Displays:
-        - Alpha: 1
-          Buffer Length: 1
-          Class: rviz/Path
-          Color: 52; 101; 164
-          Enabled: true
-          Head Diameter: 0.30000001192092896
-          Head Length: 0.20000000298023224
-          Length: 0.30000001192092896
-          Line Style: Lines
-          Line Width: 0.029999999329447746
-          Name: local_plan
-          Offset:
-            X: 0
-            Y: 0
-            Z: 0
-          Pose Color: 255; 85; 255
-          Pose Style: None
-          Radius: 0.029999999329447746
-          Shaft Diameter: 0.10000000149011612
-          Shaft Length: 0.10000000149011612
-          Topic: /model_car/move_base/AckermannPlannerROS/local_plan
-          Unreliable: false
-          Value: true
-        - Alpha: 1
-          Buffer Length: 1
-          Class: rviz/Path
-          Color: 204; 0; 0
-          Enabled: true
-          Head Diameter: 0.30000001192092896
-          Head Length: 0.20000000298023224
-          Length: 0.30000001192092896
-          Line Style: Lines
-          Line Width: 0.029999999329447746
-          Name: global_plan
-          Offset:
-            X: 0
-            Y: 0
-            Z: 0
-          Pose Color: 255; 85; 255
-          Pose Style: None
-          Radius: 0.029999999329447746
-          Shaft Diameter: 0.10000000149011612
-          Shaft Length: 0.10000000149011612
-          Topic: /model_car/move_base/AckermannPlannerROS/global_plan
-          Unreliable: false
-          Value: true
-        - Alpha: 0.699999988079071
-          Class: rviz/Map
-          Color Scheme: map
-          Draw Behind: false
-          Enabled: false
-          Name: costmap
-          Topic: /model_car/move_base/local_costmap/costmap
-          Unreliable: false
-          Use Timestamp: false
-          Value: false
-      Enabled: true
-      Name: local_planner
-    - Class: rviz/Group
-      Displays:
-        - Alpha: 1
-          Buffer Length: 1
-          Class: rviz/Path
-          Color: 25; 255; 0
-          Enabled: true
-          Head Diameter: 0.30000001192092896
-          Head Length: 0.20000000298023224
-          Length: 0.30000001192092896
-          Line Style: Lines
-          Line Width: 0.029999999329447746
-          Name: global_plan
-          Offset:
-            X: 0
-            Y: 0
-            Z: 0
-          Pose Color: 255; 85; 255
-          Pose Style: None
-          Radius: 0.029999999329447746
-          Shaft Diameter: 0.10000000149011612
-          Shaft Length: 0.10000000149011612
-          Topic: /model_car/move_base/OpendriveGlobalPlanner/plan
-          Unreliable: false
-          Value: true
-        - Alpha: 0.699999988079071
-          Class: rviz/Map
-          Color Scheme: map
-          Draw Behind: false
-          Enabled: false
-          Name: costmap
-          Topic: /model_car/move_base/global_costmap/costmap
-          Unreliable: false
-          Use Timestamp: false
-          Value: false
-      Enabled: true
-      Name: global_planner
-    - Alpha: 1
-      Class: rviz/Polygon
-      Color: 25; 255; 0
-      Enabled: true
-      Name: footprint
-      Topic: /model_car/move_base/global_costmap/footprint
-      Unreliable: false
-      Value: true
-  Enabled: true
-  Global Options:
-    Background Color: 26; 26; 26
-    Default Light: true
-    Fixed Frame: model_car/odom
-    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: /model_car/initialpose
-      X std deviation: 0.5
-      Y std deviation: 0.5
-    - Class: rviz/SetGoal
-      Topic: /model_car/move_base_simple/goal
-    - Class: rviz/PublishPoint
-      Single click: true
-      Topic: /clicked_point
-  Value: true
-  Views:
-    Current:
-      Class: rviz/Orbit
-      Distance: 19.688234329223633
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.05999999865889549
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Focal Point:
-        X: 2.802766799926758
-        Y: 0.24340493977069855
-        Z: 0.3304859399795532
-      Focal Shape Fixed Size: false
-      Focal Shape Size: 0.05000000074505806
-      Invert Z Axis: false
-      Name: Current View
-      Near Clip Distance: 0.009999999776482582
-      Pitch: 1.5697963237762451
-      Target Frame: base_link
-      Value: Orbit (rviz)
-      Yaw: 3.1353960037231445
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: false
-  Height: 1025
-  Hide Left Dock: false
-  Hide Right Dock: false
-  QMainWindow State: 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
-  Selection:
-    collapsed: false
-  Time:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
-    collapsed: false
-  Width: 1853
-  X: 67
-  Y: 27
-  front_camera_Image:
-    collapsed: false
-  rear_camera_Image:
-    collapsed: false
diff --git a/rviz/model_car_opendrive_ekf.rviz b/rviz/model_car_opendrive_ekf.rviz
deleted file mode 100644
index b1e7e0e94a82d21adca31d6c67a1a4fab29d87b1..0000000000000000000000000000000000000000
--- a/rviz/model_car_opendrive_ekf.rviz
+++ /dev/null
@@ -1,532 +0,0 @@
-Panels:
-  - Class: rviz/Displays
-    Help Height: 80
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /Global Options1
-        - /CircuitModels1
-        - /CircuitModels1/RoadModel1
-        - /Sensors1
-        - /Sensors1/GroundTruthOdometry1/Shape1
-        - /Sensors1/EKFOdometry1
-        - /Sensors1/EKFOdometry1/Shape1
-        - /Sensors1/Odometry1/Shape1
-        - /local_planner1
-        - /local_planner1/local_plan1
-        - /local_planner1/global_plan1
-        - /global_planner1
-      Splitter Ratio: 0.625
-    Tree Height: 794
-  - 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: rear_camera_Image
-Preferences:
-  PromptSaveOnExit: true
-Toolbars:
-  toolButtonStyle: 2
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Alpha: 0.10000000149011612
-      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: 0.5
-        Y: 0.5
-        Z: 0.009999999776482582
-      Plane: XY
-      Plane Cell Count: 20
-      Reference Frame: <Fixed Frame>
-      Value: true
-    - Class: rviz/TF
-      Enabled: false
-      Frame Timeout: 15
-      Frames:
-        All Enabled: true
-      Marker Scale: 0.25
-      Name: TF
-      Show Arrows: false
-      Show Axes: true
-      Show Names: true
-      Tree:
-        {}
-      Update Interval: 0
-      Value: false
-    - Alpha: 1
-      Class: rviz/RobotModel
-      Collision Enabled: false
-      Enabled: false
-      Links:
-        All Links Enabled: true
-        Expand Joint Details: false
-        Expand Link Details: false
-        Expand Tree: false
-        Link Tree Style: Links in Alphabetic Order
-      Name: RobotModel
-      Robot Description: model_car/robot_description
-      TF Prefix: model_car
-      Update Interval: 0
-      Value: false
-      Visual Enabled: true
-    - Class: rviz/Group
-      Displays:
-        - Alpha: 0.5
-          Class: rviz/RobotModel
-          Collision Enabled: false
-          Enabled: true
-          Links:
-            All Links Enabled: true
-            Expand Joint Details: false
-            Expand Link Details: false
-            Expand Tree: false
-            Link Tree Style: Links in Alphabetic Order
-            adc_road_big_base_link:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-              Value: true
-            adc_road_big_image:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-              Value: true
-          Name: RoadModel
-          Robot Description: road_description
-          TF Prefix: ""
-          Update Interval: 0
-          Value: true
-          Visual Enabled: true
-      Enabled: true
-      Name: CircuitModels
-    - 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: 0.30000001192092896
-              Color: 204; 51; 204
-              Scale: 1
-              Value: true
-            Value: true
-          Enabled: true
-          Keep: 1000
-          Name: GroundTruthOdometry
-          Position Tolerance: 0.5
-          Shape:
-            Alpha: 1
-            Axes Length: 1
-            Axes Radius: 0.10000000149011612
-            Color: 0; 255; 255
-            Head Length: 0.10000000149011612
-            Head Radius: 0.05000000074505806
-            Shaft Length: 0.4000000059604645
-            Shaft Radius: 0.02500000037252903
-            Value: Arrow
-          Topic: /model_car/odom_ground_truth
-          Unreliable: false
-          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: 0.30000001192092896
-              Color: 204; 51; 204
-              Scale: 1
-              Value: true
-            Value: false
-          Enabled: true
-          Keep: 100
-          Name: EKFOdometry
-          Position Tolerance: 0.5
-          Shape:
-            Alpha: 1
-            Axes Length: 1
-            Axes Radius: 0.10000000149011612
-            Color: 143; 89; 2
-            Head Length: 0.10000000149011612
-            Head Radius: 0.05000000074505806
-            Shaft Length: 0.4000000059604645
-            Shaft Radius: 0.02500000037252903
-            Value: Arrow
-          Topic: /model_car/local_odom_combined
-          Unreliable: false
-          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: 0.30000001192092896
-              Color: 204; 51; 204
-              Scale: 1
-              Value: true
-            Value: true
-          Enabled: true
-          Keep: 100
-          Name: Odometry
-          Position Tolerance: 0.5
-          Shape:
-            Alpha: 1
-            Axes Length: 1
-            Axes Radius: 0.10000000149011612
-            Color: 255; 25; 0
-            Head Length: 0.10000000149011612
-            Head Radius: 0.05000000074505806
-            Shaft Length: 0.4000000059604645
-            Shaft Radius: 0.02500000037252903
-            Value: Arrow
-          Topic: /model_car/odom
-          Unreliable: false
-          Value: true
-        - Class: rviz/Group
-          Displays:
-            - Alpha: 0.5
-              Buffer Length: 1
-              Class: rviz/Range
-              Color: 255; 255; 255
-              Enabled: true
-              Name: side_right_range
-              Queue Size: 100
-              Topic: /model_car/sensors/range/side_right_sonar
-              Unreliable: false
-              Value: true
-            - Alpha: 0.5
-              Buffer Length: 1
-              Class: rviz/Range
-              Color: 255; 255; 255
-              Enabled: true
-              Name: side_left_range
-              Queue Size: 100
-              Topic: /model_car/sensors/range/side_left_sonar
-              Unreliable: false
-              Value: true
-            - Alpha: 0.5
-              Buffer Length: 1
-              Class: rviz/Range
-              Color: 255; 255; 255
-              Enabled: true
-              Name: rear_right_range
-              Queue Size: 100
-              Topic: /model_car/sensors/range/rear_right_sonar
-              Unreliable: false
-              Value: true
-            - Alpha: 0.5
-              Buffer Length: 1
-              Class: rviz/Range
-              Color: 255; 255; 255
-              Enabled: true
-              Name: rear_left_range
-              Queue Size: 100
-              Topic: /model_car/sensors/range/rear_left_sonar
-              Unreliable: false
-              Value: true
-            - Alpha: 0.5
-              Buffer Length: 1
-              Class: rviz/Range
-              Color: 255; 255; 255
-              Enabled: true
-              Name: rear_center_range
-              Queue Size: 100
-              Topic: /model_car/sensors/range/rear_center_sonar
-              Unreliable: false
-              Value: true
-          Enabled: false
-          Name: Sonars
-        - Alpha: 1
-          Class: rviz_plugin_tutorials/Imu
-          Color: 204; 51; 204
-          Enabled: false
-          History Length: 1
-          Name: Imu
-          Topic: /model_car/sensors/imu_data
-          Unreliable: false
-          Value: false
-        - Class: rviz/Image
-          Enabled: true
-          Image Topic: /model_car/sensors/delock_camera/image_raw
-          Max Value: 1
-          Median window: 5
-          Min Value: 0
-          Name: rear_camera_Image
-          Normalize Range: true
-          Queue Size: 2
-          Transport Hint: raw
-          Unreliable: false
-          Value: true
-        - Class: rviz/Image
-          Enabled: true
-          Image Topic: /model_car/sensors/basler_camera/image_raw
-          Max Value: 1
-          Median window: 5
-          Min Value: 0
-          Name: front_camera_Image
-          Normalize Range: true
-          Queue Size: 2
-          Transport Hint: compressed
-          Unreliable: false
-          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; 255; 255
-          Color Transformer: Intensity
-          Decay Time: 0
-          Enabled: true
-          Invert Rainbow: false
-          Max Color: 255; 255; 255
-          Max Intensity: 0
-          Min Color: 0; 0; 0
-          Min Intensity: 0
-          Name: RP_Lidar
-          Position Transformer: XYZ
-          Queue Size: 10
-          Selectable: true
-          Size (Pixels): 3
-          Size (m): 0.009999999776482582
-          Style: Points
-          Topic: /model_car/sensors/scan
-          Unreliable: false
-          Use Fixed Frame: true
-          Use rainbow: true
-          Value: true
-      Enabled: true
-      Name: Sensors
-    - Class: rviz/Group
-      Displays:
-        - Alpha: 1
-          Buffer Length: 1
-          Class: rviz/Path
-          Color: 52; 101; 164
-          Enabled: true
-          Head Diameter: 0.30000001192092896
-          Head Length: 0.20000000298023224
-          Length: 0.30000001192092896
-          Line Style: Lines
-          Line Width: 0.029999999329447746
-          Name: local_plan
-          Offset:
-            X: 0
-            Y: 0
-            Z: 0
-          Pose Color: 255; 85; 255
-          Pose Style: None
-          Radius: 0.029999999329447746
-          Shaft Diameter: 0.10000000149011612
-          Shaft Length: 0.10000000149011612
-          Topic: /model_car/move_base/AckermannPlannerROS/local_plan
-          Unreliable: false
-          Value: true
-        - Alpha: 1
-          Buffer Length: 1
-          Class: rviz/Path
-          Color: 204; 0; 0
-          Enabled: true
-          Head Diameter: 0.30000001192092896
-          Head Length: 0.20000000298023224
-          Length: 0.30000001192092896
-          Line Style: Lines
-          Line Width: 0.029999999329447746
-          Name: global_plan
-          Offset:
-            X: 0
-            Y: 0
-            Z: 0
-          Pose Color: 255; 85; 255
-          Pose Style: None
-          Radius: 0.029999999329447746
-          Shaft Diameter: 0.10000000149011612
-          Shaft Length: 0.10000000149011612
-          Topic: /model_car/move_base/AckermannPlannerROS/global_plan
-          Unreliable: false
-          Value: true
-        - Alpha: 0.699999988079071
-          Class: rviz/Map
-          Color Scheme: map
-          Draw Behind: false
-          Enabled: false
-          Name: costmap
-          Topic: /model_car/move_base/local_costmap/costmap
-          Unreliable: false
-          Use Timestamp: false
-          Value: false
-      Enabled: true
-      Name: local_planner
-    - Class: rviz/Group
-      Displays:
-        - Alpha: 1
-          Buffer Length: 1
-          Class: rviz/Path
-          Color: 25; 255; 0
-          Enabled: true
-          Head Diameter: 0.30000001192092896
-          Head Length: 0.20000000298023224
-          Length: 0.30000001192092896
-          Line Style: Lines
-          Line Width: 0.029999999329447746
-          Name: global_plan
-          Offset:
-            X: 0
-            Y: 0
-            Z: 0
-          Pose Color: 255; 85; 255
-          Pose Style: None
-          Radius: 0.029999999329447746
-          Shaft Diameter: 0.10000000149011612
-          Shaft Length: 0.10000000149011612
-          Topic: /model_car/move_base/OpendriveGlobalPlanner/plan
-          Unreliable: false
-          Value: true
-        - Alpha: 0.699999988079071
-          Class: rviz/Map
-          Color Scheme: map
-          Draw Behind: false
-          Enabled: false
-          Name: costmap
-          Topic: /model_car/move_base/global_costmap/costmap
-          Unreliable: false
-          Use Timestamp: false
-          Value: false
-      Enabled: true
-      Name: global_planner
-    - Alpha: 1
-      Class: rviz/Polygon
-      Color: 25; 255; 0
-      Enabled: true
-      Name: footprint
-      Topic: /model_car/move_base/global_costmap/footprint
-      Unreliable: false
-      Value: true
-    - Alpha: 0.699999988079071
-      Class: rviz/Map
-      Color Scheme: map
-      Draw Behind: false
-      Enabled: true
-      Name: amcl_map
-      Topic: /model_car/map
-      Unreliable: false
-      Use Timestamp: false
-      Value: true
-  Enabled: true
-  Global Options:
-    Background Color: 26; 26; 26
-    Default Light: true
-    Fixed Frame: map
-    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: /model_car/initialpose
-      X std deviation: 0.5
-      Y std deviation: 0.5
-    - Class: rviz/SetGoal
-      Topic: /model_car/move_base_simple/goal
-    - Class: rviz/PublishPoint
-      Single click: true
-      Topic: /clicked_point
-  Value: true
-  Views:
-    Current:
-      Class: rviz/Orbit
-      Distance: 8.511842727661133
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.05999999865889549
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Focal Point:
-        X: 6.138265609741211
-        Y: 4.300174236297607
-        Z: 0.3337762653827667
-      Focal Shape Fixed Size: false
-      Focal Shape Size: 0.05000000074505806
-      Invert Z Axis: false
-      Name: Current View
-      Near Clip Distance: 0.009999999776482582
-      Pitch: 1.5697963237762451
-      Target Frame: base_link
-      Value: Orbit (rviz)
-      Yaw: 3.1303958892822266
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: false
-  Height: 1025
-  Hide Left Dock: false
-  Hide Right Dock: false
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-  Selection:
-    collapsed: false
-  Time:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
-    collapsed: false
-  Width: 1853
-  X: 67
-  Y: 27
-  front_camera_Image:
-    collapsed: false
-  rear_camera_Image:
-    collapsed: false