diff --git a/stretch_navigation/rviz/navigation.rviz b/stretch_navigation/rviz/navigation.rviz
index 0291237..484c4a9 100644
--- a/stretch_navigation/rviz/navigation.rviz
+++ b/stretch_navigation/rviz/navigation.rviz
@@ -25,7 +25,7 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: LaserScan
+    SyncSource: Filtered Laser Scan
 Preferences:
   PromptSaveOnExit: true
 Toolbars:
@@ -275,11 +275,11 @@ Visualization Manager:
       Color: 255; 255; 255
       Color Transformer: Intensity
       Decay Time: 0
-      Enabled: true
+      Enabled: false
       Invert Rainbow: false
       Max Color: 255; 255; 255
       Min Color: 0; 0; 0
-      Name: LaserScan
+      Name: Captured Laser Scan
       Position Transformer: XYZ
       Queue Size: 10
       Selectable: true
@@ -290,6 +290,34 @@ Visualization Manager:
       Unreliable: false
       Use Fixed Frame: true
       Use rainbow: true
+      Value: false
+    - 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
+      Min Color: 0; 0; 0
+      Name: Filtered Laser Scan
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic: /scan_filtered
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
       Value: true
     - Angle Tolerance: 0.10000000149011612
       Class: rviz/Odometry
@@ -336,21 +364,15 @@ Visualization Manager:
       Unreliable: false
       Use Timestamp: false
       Value: true
-    - Alpha: 1
-      Axes Length: 1
-      Axes Radius: 0.10000000149011612
-      Class: rviz/Pose
-      Color: 138; 226; 52
+    - Alpha: 0.699999988079071
+      Class: rviz/Map
+      Color Scheme: costmap
+      Draw Behind: true
       Enabled: true
-      Head Length: 0.07000000029802322
-      Head Radius: 0.10000000149011612
-      Name: Goal Pose
-      Queue Size: 10
-      Shaft Length: 0.23000000417232513
-      Shaft Radius: 0.05000000074505806
-      Shape: Arrow
-      Topic: /move_base_simple/goal
+      Name: Global Costmap
+      Topic: /move_base/global_costmap/costmap
       Unreliable: false
+      Use Timestamp: false
       Value: true
     - Alpha: 0.699999988079071
       Class: rviz/Map
@@ -371,15 +393,21 @@ Visualization Manager:
       Topic: /move_base/local_costmap/footprint
       Unreliable: false
       Value: true
-    - Alpha: 0.699999988079071
-      Class: rviz/Map
-      Color Scheme: costmap
-      Draw Behind: true
+    - Alpha: 1
+      Axes Length: 1
+      Axes Radius: 0.10000000149011612
+      Class: rviz/Pose
+      Color: 138; 226; 52
       Enabled: true
-      Name: Global Costmap
-      Topic: /move_base/global_costmap/costmap
+      Head Length: 0.07000000029802322
+      Head Radius: 0.10000000149011612
+      Name: Goal Pose
+      Queue Size: 10
+      Shaft Length: 0.23000000417232513
+      Shaft Radius: 0.05000000074505806
+      Shape: Arrow
+      Topic: /move_base_simple/goal
       Unreliable: false
-      Use Timestamp: false
       Value: true
     - Alpha: 1
       Buffer Length: 1
@@ -391,7 +419,7 @@ Visualization Manager:
       Length: 0.05000000074505806
       Line Style: Billboards
       Line Width: 0.029999999329447746
-      Name: Path
+      Name: Path to Goal
       Offset:
         X: 0
         Y: 0