diff --git a/src/3rd_app/tensorflow_app/tensorflow_object_detector/config/display.rviz b/src/3rd_app/tensorflow_app/tensorflow_object_detector/config/display.rviz
index 557eb8d..63cce15 100644
--- a/src/3rd_app/tensorflow_app/tensorflow_object_detector/config/display.rviz
+++ b/src/3rd_app/tensorflow_app/tensorflow_object_detector/config/display.rviz
@@ -3,9 +3,10 @@ Panels:
     Help Height: 0
     Name: Displays
     Property Tree Widget:
-      Expanded: ~
-      Splitter Ratio: 0.494444
-    Tree Height: 223
+      Expanded:
+        - /Image_raw1
+      Splitter Ratio: 0.49444401264190674
+    Tree Height: 140
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -14,7 +15,7 @@ Panels:
       - /2D Nav Goal1
       - /Publish Point1
     Name: Tool Properties
-    Splitter Ratio: 0.588679
+    Splitter Ratio: 0.5886790156364441
   - Class: rviz/Views
     Expanded:
       - /Current View1
@@ -25,12 +26,16 @@ Panels:
     Name: Time
     SyncMode: 0
     SyncSource: Image_raw
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
 Visualization Manager:
   Class: ""
   Displays:
     - Class: rviz/Image
       Enabled: true
-      Image Topic: /camera/rgb/image_raw
+      Image Topic: /camera/color/image_raw
       Max Value: 1
       Median window: 5
       Min Value: 0
@@ -41,7 +46,7 @@ Visualization Manager:
       Unreliable: false
       Value: true
     - Class: rviz/Image
-      Enabled: true
+      Enabled: false
       Image Topic: /debug_image
       Max Value: 1
       Median window: 5
@@ -51,10 +56,11 @@ Visualization Manager:
       Queue Size: 2
       Transport Hint: raw
       Unreliable: false
-      Value: true
+      Value: false
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
+    Default Light: true
     Fixed Frame: camera_link
     Frame Rate: 30
   Name: root
@@ -66,7 +72,10 @@ Visualization Manager:
     - Class: rviz/FocusCamera
     - Class: rviz/Measure
     - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
       Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
     - Class: rviz/SetGoal
       Topic: /move_base_simple/goal
     - Class: rviz/PublishPoint
@@ -78,32 +87,35 @@ Visualization Manager:
       Class: rviz/Orbit
       Distance: 10
       Enable Stereo Rendering:
-        Stereo Eye Separation: 0.06
+        Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
+      Field of View: 0.7853981852531433
       Focal Point:
         X: 0
         Y: 0
         Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
       Name: Current View
-      Near Clip Distance: 0.01
-      Pitch: 0.785398
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.785398006439209
       Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
-      Yaw: 0.785398
+      Yaw: 0.785398006439209
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 744
+  Height: 536
   Hide Left Dock: false
   Hide Right Dock: false
   Image_raw:
     collapsed: false
   Image_tensorflow:
     collapsed: false
-  QMainWindow State: 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
+  QMainWindow State: 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
   Selection:
     collapsed: false
   Time:
@@ -112,6 +124,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1301
-  X: 65
-  Y: 24
+  Width: 952
+  X: 72
+  Y: 27
diff --git a/src/spark_app/spark_rtabmap/launch/spark_rtabmap_nav.launch b/src/spark_app/spark_rtabmap/launch/spark_rtabmap_nav.launch
index d3a20cd..061566c 100755
--- a/src/spark_app/spark_rtabmap/launch/spark_rtabmap_nav.launch
+++ b/src/spark_app/spark_rtabmap/launch/spark_rtabmap_nav.launch
@@ -3,7 +3,7 @@
 <launch>
 	<!-- camera -->
 	<arg name="camera_type_tel" default="" doc="camera type [astrapro, astra]"/>
-	<arg name="depthtolaser"	default="/camera/depth/image_rect_raw"/>
+	<arg name="point2laser" default="/camera/depth_registered/points"/>
 	
 	<!-- spark底盘驱动，机器人描述,底盘,相机 -->
 	<include file="$(find spark_bringup)/launch/driver_bringup.launch">
@@ -12,20 +12,9 @@
 	</include>
 
 
-  	<!-- Run the depthimage_to_laserscan node -->
-  	<node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" output="screen">
-    
-    		<!--<remap from="image" to="/camera/depth/image_raw" />-->
-    		<remap from="image" to="$(arg depthtolaser)" />
-
-    		<!--<remap from="camera_info" to="/camera/depth/camera_info" />-->
-    		<remap from="camera_info" to="/camera/depth/camera_info" />
-
-    		<remap from="scan" to="/scan" />
-    		<param name="output_frame_id" value="camera_depth_frame" />
-
-    		<param name="scan_height" value="20" />
-  	</node>
+  	<include file="$(find spark_slam)/launch/pointcloud2scan.launch">
+		<arg name="point2laser"	value="$(arg point2laser)"/>
+	</include>
 
 
   	<!-- Move base -->
diff --git a/src/spark_app/spark_rtabmap/launch/spark_rtabmap_teleop.launch b/src/spark_app/spark_rtabmap/launch/spark_rtabmap_teleop.launch
index b3a8cab..3a70030 100755
--- a/src/spark_app/spark_rtabmap/launch/spark_rtabmap_teleop.launch
+++ b/src/spark_app/spark_rtabmap/launch/spark_rtabmap_teleop.launch
@@ -1,7 +1,7 @@
 <!--spark rtabmap-->
 <!--SPARK技术讨论与反馈群：8346256-->
 <launch>
-	<arg name="point2laser" default="/camera/depth/points"/>
+	<arg name="point2laser" default="/camera/depth_registered/points"/>
 	<!-- camera -->
 	<arg name="camera_type_tel" default="" doc="camera type [astrapro, astra]" />
 	<!-- spark base driver -->