diff --git a/rviz/tf2_broadcaster_example.rviz b/rviz/tf2_broadcaster_example.rviz
index 38162c0..b2bf648 100644
--- a/rviz/tf2_broadcaster_example.rviz
+++ b/rviz/tf2_broadcaster_example.rviz
@@ -8,8 +8,8 @@ Panels:
         - /RobotModel1/Links1/camera_bottom_screw_frame1
         - /TF1
         - /TF1/Frames1
-      Splitter Ratio: 0.5
-    Tree Height: 1079
+      Splitter Ratio: 0.7109557390213013
+    Tree Height: 1048
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -349,13 +349,13 @@ Visualization Manager:
         link_left_wheel:
           Value: false
         link_lift:
-          Value: false
+          Value: true
         link_mast:
-          Value: false
+          Value: true
         link_right_wheel:
           Value: false
         link_wrist_yaw:
-          Value: false
+          Value: true
         respeaker_base:
           Value: false
       Marker Scale: 1
@@ -453,33 +453,33 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 4.18682336807251
+      Distance: 4.067111015319824
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: -0.23268283903598785
-        Y: -0.41365212202072144
-        Z: 0.6679157614707947
+        X: -0.20766681432724
+        Y: -0.3745853900909424
+        Z: 0.7653261423110962
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.3297959268093109
+      Pitch: 0.3097960948944092
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 0.8972910642623901
+      Yaw: 0.6922861337661743
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1376
+  Height: 1345
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000253000004c2fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000004c2000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d006500720061010000022e000000c70000000000000000fb0000000a0049006d00610067006501000002fb000002040000000000000000fb0000000c00430061006d0065007200610000000429000000d60000000000000000000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006550000003efc0100000002fb0000000800540069006d0065010000000000000655000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000003fc000004c200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001af000004a3fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000004a3000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d006500720061010000022e000000c70000000000000000fb0000000a0049006d00610067006501000002fb000002040000000000000000fb0000000c00430061006d0065007200610000000429000000d60000000000000000000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005840000003efc0100000002fb0000000800540069006d0065010000000000000584000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000003cf000004a300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -488,6 +488,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1621
-  X: 864
-  Y: 27
+  Width: 1412
+  X: 514
+  Y: 65