diff --git a/stretch_funmap/rviz/stretch_mapping.rviz b/stretch_funmap/rviz/stretch_mapping.rviz
index 3a2a563..74fbc0e 100644
--- a/stretch_funmap/rviz/stretch_mapping.rviz
+++ b/stretch_funmap/rviz/stretch_mapping.rviz
@@ -24,7 +24,7 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: PointCloud2
+    SyncSource: Point Cloud
 Preferences:
   PromptSaveOnExit: true
 Toolbars:
@@ -65,6 +65,14 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        camera_accel_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_accel_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
         camera_bottom_screw_frame:
           Alpha: 1
           Show Axes: false
@@ -85,6 +93,14 @@ Visualization Manager:
           Alpha: 1
           Show Axes: false
           Show Trail: false
+        camera_gyro_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_gyro_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
         camera_infra1_frame:
           Alpha: 1
           Show Axes: false
@@ -106,6 +122,11 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        caster_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
         laser:
           Alpha: 1
           Show Axes: false
@@ -235,40 +256,12 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
-      Name: RobotModel
+      Name: Stretch RE1
       Robot Description: robot_description
       TF Prefix: ""
       Update Interval: 0
       Value: true
       Visual Enabled: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 1.1299999952316284
-        Min Value: -0.05000000074505806
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz/PointCloud2
-      Color: 255; 255; 255
-      Color Transformer: AxisColor
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Min Color: 0; 0; 0
-      Name: PointCloud2
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.009999999776482582
-      Style: Flat Squares
-      Topic: /funmap/point_cloud2
-      Unreliable: false
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
@@ -281,11 +274,11 @@ Visualization Manager:
       Color: 255; 255; 255
       Color Transformer: Intensity
       Decay Time: 0
-      Enabled: false
+      Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
       Min Color: 0; 0; 0
-      Name: LaserScan
+      Name: 2D Lidar
       Position Transformer: XYZ
       Queue Size: 10
       Selectable: true
@@ -296,56 +289,8 @@ Visualization Manager:
       Unreliable: false
       Use Fixed Frame: true
       Use rainbow: true
-      Value: false
-    - Alpha: 1
-      Axes Length: 1
-      Axes Radius: 0.10000000149011612
-      Class: rviz/Pose
-      Color: 255; 25; 0
-      Enabled: false
-      Head Length: 0.05000000074505806
-      Head Radius: 0.05000000074505806
-      Name: Pose
-      Queue Size: 10
-      Shaft Length: 0.20000000298023224
-      Shaft Radius: 0.02500000037252903
-      Shape: Arrow
-      Topic: /sound_localization
-      Unreliable: false
-      Value: false
-    - Class: rviz/MarkerArray
-      Enabled: true
-      Marker Topic: /funmap/navigation_plan_markers
-      Name: MarkerArray
-      Namespaces:
-        {}
-      Queue Size: 100
       Value: true
-    - Class: rviz/Marker
-      Enabled: false
-      Marker Topic: /funmap/voi_marker
-      Name: Marker
-      Namespaces:
-        {}
-      Queue Size: 100
-      Value: false
-    - Class: rviz/Marker
-      Enabled: false
-      Marker Topic: /frustum_marker/depth_camera
-      Name: Marker
-      Namespaces:
-        {}
-      Queue Size: 100
-      Value: false
-    - Class: rviz/Marker
-      Enabled: false
-      Marker Topic: /frustum_marker/color_camera
-      Name: Marker
-      Namespaces:
-        {}
-      Queue Size: 100
-      Value: false
-    - Alpha: 0.20000000298023224
+    - Alpha: 0.800000011920929
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
         Max Value: 10
@@ -357,11 +302,11 @@ Visualization Manager:
       Color: 255; 255; 255
       Color Transformer: RGB8
       Decay Time: 0
-      Enabled: false
+      Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
       Min Color: 0; 0; 0
-      Name: PointCloud2
+      Name: Point Cloud
       Position Transformer: XYZ
       Queue Size: 10
       Selectable: true
@@ -372,7 +317,7 @@ Visualization Manager:
       Unreliable: false
       Use Fixed Frame: true
       Use rainbow: true
-      Value: false
+      Value: true
     - Angle Tolerance: 0.009999999776482582
       Class: rviz/Odometry
       Covariance:
@@ -390,7 +335,7 @@ Visualization Manager:
           Scale: 1
           Value: true
         Value: false
-      Enabled: false
+      Enabled: true
       Keep: 1
       Name: Odometry
       Position Tolerance: 0.009999999776482582
@@ -407,7 +352,23 @@ Visualization Manager:
         Value: Arrow
       Topic: /odometry/filtered
       Unreliable: false
+      Value: true
+    - Class: rviz/Marker
+      Enabled: false
+      Marker Topic: /funmap/voi_marker
+      Name: Volume of Interest
+      Namespaces:
+        {}
+      Queue Size: 100
       Value: false
+    - Class: rviz/MarkerArray
+      Enabled: true
+      Marker Topic: /funmap/navigation_plan_markers
+      Name: Plan
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48