diff --git a/stretch_navigation/rviz/navigation.rviz b/stretch_navigation/rviz/navigation.rviz
index 484c4a9..78842da 100644
--- a/stretch_navigation/rviz/navigation.rviz
+++ b/stretch_navigation/rviz/navigation.rviz
@@ -354,6 +354,23 @@ Visualization Manager:
       Topic: /odom
       Unreliable: false
       Value: true
+    - Alpha: 1
+      Arrow Length: 0.10000000149011612
+      Axes Length: 0.30000001192092896
+      Axes Radius: 0.009999999776482582
+      Class: rviz/PoseArray
+      Color: 252; 175; 62
+      Enabled: false
+      Head Length: 0.07000000029802322
+      Head Radius: 0.029999999329447746
+      Name: AMCL Particles
+      Queue Size: 10
+      Shaft Length: 0.23000000417232513
+      Shaft Radius: 0.009999999776482582
+      Shape: Arrow (Flat)
+      Topic: /particlecloud
+      Unreliable: false
+      Value: false
     - Alpha: 0.699999988079071
       Class: rviz/Map
       Color Scheme: map
@@ -461,7 +478,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 6.303590297698975
+      Distance: 6.752994537353516
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -479,7 +496,7 @@ Visualization Manager:
       Near Clip Distance: 0.009999999776482582
       Pitch: 1.5697963237762451
       Target Frame: <Fixed Frame>
-      Yaw: 3.1631202697753906
+      Yaw: 3.1481218338012695
     Saved: ~
 Window Geometry:
   Displays: