diff --git a/src/node.cpp b/src/node.cpp
index 1e770d3fe77447c216573b72e1d36d29cb57dd0c..d51a3d93278e125436ba8aa0371a785295333e08 100644
--- a/src/node.cpp
+++ b/src/node.cpp
@@ -116,8 +116,8 @@ bool WolfRosNode::updateTf()
 
     //Get map2base from Wolf result, and builds base2map pose
     tf::Transform T_map2base;
-    if (current_state.count("P") == 0 or
-        current_state.count("O") == 0 or
+    if (current_state.count('P') == 0 or
+        current_state.count('O') == 0 or
         !loc_ts.ok())
     {
         if (state_available_)
@@ -137,14 +137,14 @@ bool WolfRosNode::updateTf()
         // 2D
         if (problem_ptr_->getDim() == 2)
         {
-            T_map2base = tf::Transform (tf::createQuaternionFromYaw(current_state["O"](0)),
-                                        tf::Vector3(current_state["P"](0), current_state["P"](1), 0) );
+            T_map2base = tf::Transform (tf::createQuaternionFromYaw(current_state['O'](0)),
+                                        tf::Vector3(current_state['P'](0), current_state['P'](1), 0) );
         }
         // 3D
         else
         {
-            T_map2base = tf::Transform (tf::Quaternion(current_state["O"](0), current_state["O"](1), current_state["O"](2), current_state["O"](3)),
-                                        tf::Vector3(current_state["P"](0), current_state["P"](1), current_state["P"](2)) );
+            T_map2base = tf::Transform (tf::Quaternion(current_state['O'](0), current_state['O'](1), current_state['O'](2), current_state['O'](3)),
+                                        tf::Vector3(current_state['P'](0), current_state['P'](1), current_state['P'](2)) );
         }
     }
 
diff --git a/src/publisher_pose.cpp b/src/publisher_pose.cpp
index ee95b54b2e4673ac9374685791024b1096b4f0f5..766c07c621046c97880ed321f027d2a3a597420b 100644
--- a/src/publisher_pose.cpp
+++ b/src/publisher_pose.cpp
@@ -29,8 +29,8 @@ void PublisherPose::publishDerived()
     TimeStamp loc_ts = problem_->getTimeStamp();
 
     // state not ready
-    if (current_state.count("P") == 0 or
-        current_state.count("O") == 0 or
+    if (current_state.count('P') == 0 or
+        current_state.count('O') == 0 or
         loc_ts == TimeStamp(0))
     {
         return;
@@ -44,23 +44,23 @@ void PublisherPose::publishDerived()
     // 2D
     if (problem_->getDim() == 2)
     {
-        msg.pose.pose.position.x = current_state["P"](0);
-        msg.pose.pose.position.y = current_state["P"](1);
+        msg.pose.pose.position.x = current_state['P'](0);
+        msg.pose.pose.position.y = current_state['P'](1);
         msg.pose.pose.position.z = 0;
 
-        msg.pose.pose.orientation = tf::createQuaternionMsgFromYaw(current_state["O"](0));
+        msg.pose.pose.orientation = tf::createQuaternionMsgFromYaw(current_state['O'](0));
     }
     // 3D
     else
     {
-        msg.pose.pose.position.x = current_state["P"](0);
-        msg.pose.pose.position.y = current_state["P"](1);
-        msg.pose.pose.position.z = current_state["P"](2);
+        msg.pose.pose.position.x = current_state['P'](0);
+        msg.pose.pose.position.y = current_state['P'](1);
+        msg.pose.pose.position.z = current_state['P'](2);
 
-        msg.pose.pose.orientation.x = current_state["O"](0);
-        msg.pose.pose.orientation.y = current_state["O"](1);
-        msg.pose.pose.orientation.z = current_state["O"](2);
-        msg.pose.pose.orientation.w = current_state["O"](3);
+        msg.pose.pose.orientation.x = current_state['O'](0);
+        msg.pose.pose.orientation.y = current_state['O'](1);
+        msg.pose.pose.orientation.z = current_state['O'](2);
+        msg.pose.pose.orientation.w = current_state['O'](3);
     }
 
     publisher_.publish(msg);
diff --git a/src/visualizer.cpp b/src/visualizer.cpp
index b8f81a61a391d4a388252ec4525c4b72e50aeb63..e1a717833c9a0ea469ef6fd488310b238d3762a0 100644
--- a/src/visualizer.cpp
+++ b/src/visualizer.cpp
@@ -32,32 +32,32 @@ void Visualizer::initialize(ros::NodeHandle& nh)
     nh.param<float>(        "frame_color_r",            frame_color_.r,             1.0);
     nh.param<float>(        "frame_color_g",            frame_color_.g,             0.8);
     nh.param<float>(        "frame_color_b",            frame_color_.b,             0.0);
-    nh.param<float>(        "frame_color_a",            frame_color_.a,             0.5);
+    nh.param<float>(        "frame_color_a",            frame_color_.a,             1);
 
     nh.param<float>(        "factor_abs_color_r",       factor_abs_color_.r,        0.92);
     nh.param<float>(        "factor_abs_color_g",       factor_abs_color_.g,        0.19);
     nh.param<float>(        "factor_abs_color_b",       factor_abs_color_.b,        0.6);
-    nh.param<float>(        "factor_abs_color_a",       factor_abs_color_.a,        0.5);
+    nh.param<float>(        "factor_abs_color_a",       factor_abs_color_.a,        1);
 
     nh.param<float>(        "factor_motion_color_r",    factor_motion_color_.r,     1.0);
     nh.param<float>(        "factor_motion_color_g",    factor_motion_color_.g,     1.0);
     nh.param<float>(        "factor_motion_color_b",    factor_motion_color_.b,     0.0);
-    nh.param<float>(        "factor_motion_color_a",    factor_motion_color_.a,     0.5);
+    nh.param<float>(        "factor_motion_color_a",    factor_motion_color_.a,     1);
 
     nh.param<float>(        "factor_loop_color_r",      factor_loop_color_.r,       1.0);
     nh.param<float>(        "factor_loop_color_g",      factor_loop_color_.g,       0.0);
     nh.param<float>(        "factor_loop_color_b",      factor_loop_color_.b,       0.0);
-    nh.param<float>(        "factor_loop_color_a",      factor_loop_color_.a,       0.5);
+    nh.param<float>(        "factor_loop_color_a",      factor_loop_color_.a,       1);
 
     nh.param<float>(        "factor_lmk_color_r",       factor_lmk_color_.r,        0.0);
     nh.param<float>(        "factor_lmk_color_g",       factor_lmk_color_.g,        0.0);
     nh.param<float>(        "factor_lmk_color_b",       factor_lmk_color_.b,        1.0);
-    nh.param<float>(        "factor_lmk_color_a",       factor_lmk_color_.a,        0.5);
+    nh.param<float>(        "factor_lmk_color_a",       factor_lmk_color_.a,        1);
 
     nh.param<float>(        "factor_geom_color_r",      factor_geom_color_.r,       0.0);
     nh.param<float>(        "factor_geom_color_g",      factor_geom_color_.g,       1.0);
     nh.param<float>(        "factor_geom_color_b",      factor_geom_color_.b,       1.0);
-    nh.param<float>(        "factor_geom_color_a",      factor_geom_color_.a,       0.5);
+    nh.param<float>(        "factor_geom_color_a",      factor_geom_color_.a,       1);
 
     // init markers ---------------------------------------------------
     // factor markers message