diff --git a/config/vrx.rviz b/config/vrx.rviz
index efd84a6..9966841 100644
--- a/config/vrx.rviz
+++ b/config/vrx.rviz
@@ -10,6 +10,7 @@ Panels:
     Property Tree Widget:
       Expanded:
         - /TF1/Frames1
+        - /Perception1
       Splitter Ratio: 0.5
     Tree Height: 1412
   - Class: rviz_common/Tool Properties
@@ -394,16 +395,50 @@ Visualization Manager:
           Channel Name: intensity
           Class: rviz_default_plugins/PointCloud2
           Color: 255; 255; 255
-          Color Transformer: ""
+          Color Transformer: Intensity
           Decay Time: 0
           Enabled: true
           Invert Rainbow: false
           Max Color: 255; 255; 255
-          Max Intensity: 4096
+          Max Intensity: 999.9847412109375
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: Obstacle Points
+          Position Transformer: XYZ
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.009999999776482582
+          Style: Flat Squares
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            Filter size: 10
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /perception/crop_box_node/output
+          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_default_plugins/PointCloud2
+          Color: 255; 255; 255
+          Color Transformer: Intensity
+          Decay Time: 0
+          Enabled: false
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 999.9847412109375
           Min Color: 0; 0; 0
           Min Intensity: 0
           Name: Points Concat
-          Position Transformer: ""
+          Position Transformer: XYZ
           Selectable: true
           Size (Pixels): 3
           Size (m): 0.009999999776482582
@@ -417,6 +452,18 @@ Visualization Manager:
             Value: /perception/points_concatenate_node/output
           Use Fixed Frame: true
           Use rainbow: true
+          Value: false
+        - Class: rviz_default_plugins/MarkerArray
+          Enabled: true
+          Name: WamV Bounding Box
+          Namespaces:
+            bbox: true
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /perception/crop_box_node/bbox
           Value: true
       Enabled: true
       Name: Perception
@@ -590,7 +637,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/ThirdPersonFollower
-      Distance: 38.95975875854492
+      Distance: 14.011272430419922
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -605,10 +652,10 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.7803981900215149
+      Pitch: 0.6703984141349792
       Target Frame: wamv/wamv/base_link
       Value: ThirdPersonFollower (rviz_default_plugins)
-      Yaw: 2.5154004096984863
+      Yaw: 1.4803999662399292
     Saved: ~
 Window Geometry:
   Displays: