diff --git a/src/spark/spark_teleop/rviz/teleop_d435.rviz b/src/spark/spark_teleop/rviz/teleop_d435.rviz
index 9d2beba..3cee32c 100755
--- a/src/spark/spark_teleop/rviz/teleop_d435.rviz
+++ b/src/spark/spark_teleop/rviz/teleop_d435.rviz
@@ -4,11 +4,9 @@ Panels:
     Name: Displays
     Property Tree Widget:
       Expanded:
-        - /TF1
         - /TF1/Frames1
-        - /PointCloud21
       Splitter Ratio: 0.5
-    Tree Height: 150
+    Tree Height: 140
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -17,7 +15,7 @@ Panels:
       - /2D Nav Goal1
       - /Publish Point1
     Name: Tool Properties
-    Splitter Ratio: 0.588679016
+    Splitter Ratio: 0.5886790156364441
   - Class: rviz/Views
     Expanded:
       - /Current View1
@@ -28,6 +26,8 @@ Panels:
     Name: Time
     SyncMode: 0
     SyncSource: Image
+Preferences:
+  PromptSaveOnExit: true
 Toolbars:
   toolButtonStyle: 2
 Visualization Manager:
@@ -39,7 +39,7 @@ Visualization Manager:
       Color: 160; 160; 164
       Enabled: true
       Line Style:
-        Line Width: 0.0299999993
+        Line Width: 0.029999999329447746
         Value: Lines
       Name: Grid
       Normal Cell Count: 0
@@ -174,15 +174,24 @@ Visualization Manager:
           Alpha: 1
           Show Axes: false
           Show Trail: false
+        laser_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
         left_wheel_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
+        lidar_bottom_screw_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
         lidar_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
+          Value: true
         right_wheel_link:
           Alpha: 1
           Show Axes: false
@@ -273,8 +282,12 @@ Visualization Manager:
           Value: false
         ir_bumper_right_link:
           Value: false
+        laser_frame:
+          Value: true
         left_wheel_link:
           Value: false
+        lidar_bottom_screw_frame:
+          Value: true
         lidar_link:
           Value: false
         odom:
@@ -285,6 +298,7 @@ Visualization Manager:
           Value: false
         spark_stack:
           Value: false
+      Marker Alpha: 1
       Marker Scale: 1
       Name: TF
       Show Arrows: true
@@ -301,14 +315,14 @@ Visualization Manager:
               camera_bottom_screw_frame:
                 camera_link:
                   camera_aligned_depth_to_color_frame:
-                    camera_color_optical_frame:
-                      {}
+                    {}
                   camera_aligned_depth_to_infra1_frame:
                     camera_infra1_optical_frame:
                       {}
-                  camera_color_frame:
-                    {}
                   camera_depth_frame:
+                    camera_color_frame:
+                      camera_color_optical_frame:
+                        {}
                     camera_depth_optical_frame:
                       {}
                     camera_left_ir_frame:
@@ -349,14 +363,17 @@ Visualization Manager:
                 {}
               left_wheel_link:
                 {}
-              lidar_link:
-                {}
+              lidar_bottom_screw_frame:
+                lidar_link:
+                  {}
               right_wheel_link:
                 {}
               room_base_link:
                 {}
               spark_stack:
                 {}
+            laser_frame:
+              {}
       Update Interval: 0
       Value: true
     - Class: rviz/Image
@@ -374,8 +391,8 @@ Visualization Manager:
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
-        Max Value: 0.734114885
-        Min Value: -1.92792726
+        Max Value: 24.765522003173828
+        Min Value: -0.49686479568481445
         Value: true
       Axis: Z
       Channel Name: intensity
@@ -386,21 +403,47 @@ Visualization Manager:
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 4096
       Min Color: 0; 0; 0
-      Min Intensity: 0
       Name: PointCloud2
       Position Transformer: XYZ
       Queue Size: 10
       Selectable: true
       Size (Pixels): 3
-      Size (m): 0.00999999978
+      Size (m): 0.009999999776482582
       Style: Flat Squares
       Topic: /camera/depth_registered/points
       Unreliable: false
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
+    - 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: LaserScan
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic: /scan
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -416,7 +459,10 @@ 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
@@ -426,35 +472,35 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 2.45080876
+      Distance: 4.319162368774414
       Enable Stereo Rendering:
-        Stereo Eye Separation: 0.0599999987
+        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
+        X: 0.07904946058988571
+        Y: -0.19301681220531464
+        Z: 0.4773929715156555
       Focal Shape Fixed Size: true
-      Focal Shape Size: 0.0500000007
+      Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
-      Near Clip Distance: 0.00999999978
-      Pitch: 0.67539835
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.4103982150554657
       Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
-      Yaw: 0.52539748
+      Yaw: 2.0503973960876465
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 576
+  Height: 536
   Hide Left Dock: false
   Hide Right Dock: true
   Image:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a000001b6fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001b500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000000d7000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650100000105000000d90000001600ffffff000000010000010f0000025efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000025e000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003bf0000003efc0100000002fb0000000800540069006d00650100000000000003bf0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000024f000001b600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000017afc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001b500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000000c9000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000010c000000ab0000001600ffffff000000010000010f0000025efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000025e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003b80000003efc0100000002fb0000000800540069006d00650100000000000003b8000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000002480000017a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -463,6 +509,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: true
-  Width: 959
-  X: 65
-  Y: 24
+  Width: 952
+  X: 72
+  Y: 27