diff --git a/slam_gmapping/slam_gmapping/rviz/gmapping.rviz b/slam_gmapping/slam_gmapping/rviz/gmapping.rviz
index 9ad494f..687bb55 100644
--- a/slam_gmapping/slam_gmapping/rviz/gmapping.rviz
+++ b/slam_gmapping/slam_gmapping/rviz/gmapping.rviz
@@ -1,15 +1,14 @@
 Panels:
   - Class: rviz_common/Displays
-    Help Height: 78
+    Help Height: 0
     Name: Displays
     Property Tree Widget:
       Expanded:
         - /Global Options1
         - /Status1
-        - /TF1/Frames1
-        - /TF1/Tree1
-      Splitter Ratio: 0.5191489458084106
-    Tree Height: 576
+        - /RobotModel1
+      Splitter Ratio: 0.5
+    Tree Height: 627
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -27,7 +26,7 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: ""
+    SyncSource: LaserScan
 Visualization Manager:
   Class: ""
   Displays:
@@ -70,44 +69,6 @@ Visualization Manager:
         Value: /map_updates
       Use Timestamp: false
       Value: true
-    - Class: rviz_default_plugins/TF
-      Enabled: true
-      Frame Timeout: 15
-      Frames:
-        All Enabled: true
-        base_footprint:
-          Value: true
-        base_link:
-          Value: true
-        camera_link:
-          Value: true
-        imu_link:
-          Value: true
-        laser_frame:
-          Value: true
-        map:
-          Value: true
-        odom:
-          Value: true
-      Marker Scale: 1
-      Name: TF
-      Show Arrows: true
-      Show Axes: true
-      Show Names: true
-      Tree:
-        map:
-          odom:
-            base_footprint:
-              base_link:
-                {}
-              camera_link:
-                {}
-              imu_link:
-                {}
-              laser_frame:
-                {}
-      Update Interval: 0
-      Value: true
     - Alpha: 1
       Class: rviz_default_plugins/RobotModel
       Collision Enabled: false
@@ -130,17 +91,123 @@ Visualization Manager:
           Alpha: 1
           Show Axes: false
           Show Trail: false
-          Value: true
         base_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
+        laser_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_front_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_rear_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_front_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_rear_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Mass Properties:
+        Inertia: false
+        Mass: false
       Name: RobotModel
       TF Prefix: ""
       Update Interval: 0
       Value: true
       Visual Enabled: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_footprint:
+          Value: true
+        base_link:
+          Value: true
+        laser_link:
+          Value: true
+        left_front_wheel_link:
+          Value: true
+        left_rear_wheel_link:
+          Value: true
+        map:
+          Value: true
+        odom:
+          Value: true
+        right_front_wheel_link:
+          Value: true
+        right_rear_wheel_link:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Tree:
+        map:
+          odom:
+            base_footprint:
+              base_link:
+                laser_link:
+                  {}
+                left_front_wheel_link:
+                  {}
+                left_rear_wheel_link:
+                  {}
+                right_front_wheel_link:
+                  {}
+                right_rear_wheel_link:
+                  {}
+      Update Interval: 0
+      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_default_plugins/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 238
+      Min Color: 0; 0; 0
+      Min Intensity: 6
+      Name: LaserScan
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /scan
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -187,16 +254,16 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 5.522627830505371
+      Distance: 6.0411248207092285
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 0.741522490978241
-        Y: 0.08230660855770111
-        Z: -0.0012204855447635055
+        X: 0
+        Y: 0
+        Z: 0
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
@@ -205,15 +272,15 @@ Visualization Manager:
       Pitch: 1.5697963237762451
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 5.863584041595459
+      Yaw: 3.1504018306732178
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 873
+  Height: 846
   Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd0000000400000000000001d8000002cbfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002cb000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005100000003efc0100000002fb0000000800540069006d0065010000000000000510000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000332000002cb00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002fb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000354000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -222,6 +289,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: true
-  Width: 1296
-  X: 30
-  Y: 94
\ No newline at end of file
+  Width: 1200
+  X: 584
+  Y: 77