diff --git a/config/vrx.rviz b/config/vrx.rviz
index bd577e9..efd84a6 100644
--- a/config/vrx.rviz
+++ b/config/vrx.rviz
@@ -9,10 +9,7 @@ Panels:
     Name: Displays
     Property Tree Widget:
       Expanded:
-        - /Global Options1
         - /TF1/Frames1
-        - /Sensing1/lidar1
-        - /Perception1/GridMap1
       Splitter Ratio: 0.5
     Tree Height: 1412
   - Class: rviz_common/Tool Properties
@@ -43,147 +40,22 @@ Visualization Manager:
         Z: 0
       Plane: XY
       Plane Cell Count: 10
-      Reference Frame: <Fixed Frame>
+      Reference Frame: wamv/wamv/base_link
       Value: true
     - Class: rviz_default_plugins/TF
-      Enabled: true
+      Enabled: false
       Frame Timeout: 15
       Frames:
         All Enabled: false
-        map:
-          Value: true
-        wamv/wamv/ball_shooter_base_link:
-          Value: false
-        wamv/wamv/ball_shooter_camera_link:
-          Value: false
-        wamv/wamv/ball_shooter_camera_link_optical:
-          Value: false
-        wamv/wamv/ball_shooter_camera_post_arm_link:
-          Value: false
-        wamv/wamv/ball_shooter_camera_post_link:
-          Value: false
-        wamv/wamv/ball_shooter_launcher_link:
-          Value: false
-        wamv/wamv/base_link:
-          Value: true
-        wamv/wamv/base_link/ball_shooter_camera_sensor:
-          Value: false
-        wamv/wamv/base_link/contact_sensor:
-          Value: false
-        wamv/wamv/base_link/front_left_camera_sensor:
-          Value: false
-        wamv/wamv/base_link/front_right_camera_sensor:
-          Value: false
-        wamv/wamv/base_link/lidar_wamv_sensor:
-          Value: false
-        wamv/wamv/cpu_cases_link:
-          Value: false
-        wamv/wamv/front_left_camera_link:
-          Value: false
-        wamv/wamv/front_left_camera_link_optical:
-          Value: false
-        wamv/wamv/front_left_camera_post_arm_link:
-          Value: false
-        wamv/wamv/front_left_camera_post_link:
-          Value: false
-        wamv/wamv/front_right_camera_link:
-          Value: false
-        wamv/wamv/front_right_camera_link_optical:
-          Value: false
-        wamv/wamv/front_right_camera_post_arm_link:
-          Value: false
-        wamv/wamv/front_right_camera_post_link:
-          Value: false
-        wamv/wamv/gps_wamv_link:
-          Value: false
-        wamv/wamv/gps_wamv_link/navsat:
-          Value: false
-        wamv/wamv/imu_wamv_link:
-          Value: false
-        wamv/wamv/imu_wamv_link/imu_wamv_sensor:
-          Value: false
-        wamv/wamv/left_battery_link:
-          Value: false
-        wamv/wamv/left_engine_link:
-          Value: false
-        wamv/wamv/left_propeller_link:
-          Value: false
-        wamv/wamv/lidar_wamv_link:
-          Value: false
-        wamv/wamv/lidar_wamv_post_arm_link:
-          Value: false
-        wamv/wamv/lidar_wamv_post_link:
-          Value: false
-        wamv/wamv/reciever:
-          Value: false
-        wamv/wamv/right_battery_link:
-          Value: false
-        wamv/wamv/right_engine_link:
-          Value: false
-        wamv/wamv/right_propeller_link:
-          Value: false
       Marker Scale: 5
       Name: TF
       Show Arrows: true
       Show Axes: true
       Show Names: false
       Tree:
-        map:
-          wamv/wamv/base_link:
-            wamv/wamv/ball_shooter_base_link:
-              wamv/wamv/ball_shooter_launcher_link:
-                {}
-            wamv/wamv/ball_shooter_camera_post_link:
-              wamv/wamv/ball_shooter_camera_post_arm_link:
-                wamv/wamv/ball_shooter_camera_link:
-                  wamv/wamv/ball_shooter_camera_link_optical:
-                    {}
-            wamv/wamv/base_link/ball_shooter_camera_sensor:
-              {}
-            wamv/wamv/base_link/contact_sensor:
-              {}
-            wamv/wamv/base_link/front_left_camera_sensor:
-              {}
-            wamv/wamv/base_link/front_right_camera_sensor:
-              {}
-            wamv/wamv/base_link/lidar_wamv_sensor:
-              {}
-            wamv/wamv/cpu_cases_link:
-              {}
-            wamv/wamv/front_left_camera_post_link:
-              wamv/wamv/front_left_camera_post_arm_link:
-                wamv/wamv/front_left_camera_link:
-                  wamv/wamv/front_left_camera_link_optical:
-                    {}
-            wamv/wamv/front_right_camera_post_link:
-              wamv/wamv/front_right_camera_post_arm_link:
-                wamv/wamv/front_right_camera_link:
-                  wamv/wamv/front_right_camera_link_optical:
-                    {}
-            wamv/wamv/gps_wamv_link:
-              wamv/wamv/gps_wamv_link/navsat:
-                {}
-            wamv/wamv/imu_wamv_link:
-              wamv/wamv/imu_wamv_link/imu_wamv_sensor:
-                {}
-            wamv/wamv/left_battery_link:
-              {}
-            wamv/wamv/left_engine_link:
-              wamv/wamv/left_propeller_link:
-                {}
-            wamv/wamv/lidar_wamv_post_link:
-              wamv/wamv/lidar_wamv_post_arm_link:
-                wamv/wamv/lidar_wamv_link:
-                  {}
-            wamv/wamv/reciever:
-              {}
-            wamv/wamv/right_battery_link:
-              {}
-            wamv/wamv/right_engine_link:
-              wamv/wamv/right_propeller_link:
-                {}
+        {}
       Update Interval: 0
-      Value: true
+      Value: false
     - Alpha: 1
       Class: rviz_default_plugins/RobotModel
       Collision Enabled: false
@@ -219,7 +91,6 @@ Visualization Manager:
           Alpha: 1
           Show Axes: false
           Show Trail: false
-          Value: true
         wamv/ball_shooter_camera_post_link:
           Alpha: 1
           Show Axes: false
@@ -253,7 +124,6 @@ Visualization Manager:
           Alpha: 1
           Show Axes: false
           Show Trail: false
-          Value: true
         wamv/front_left_camera_post_link:
           Alpha: 1
           Show Axes: false
@@ -272,7 +142,6 @@ Visualization Manager:
           Alpha: 1
           Show Axes: false
           Show Trail: false
-          Value: true
         wamv/front_right_camera_post_link:
           Alpha: 1
           Show Axes: false
@@ -298,22 +167,20 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
-        wamv/left_propeller_link:
+        wamv/left_lidar_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
-          Value: true
-        wamv/lidar_wamv_link:
+        wamv/left_lidar_post_arm_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
-          Value: true
-        wamv/lidar_wamv_post_arm_link:
+        wamv/left_lidar_post_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        wamv/lidar_wamv_post_link:
+        wamv/left_propeller_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
@@ -333,6 +200,19 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        wamv/right_lidar_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        wamv/right_lidar_post_arm_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        wamv/right_lidar_post_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
         wamv/right_propeller_link:
           Alpha: 1
           Show Axes: false
@@ -363,10 +243,10 @@ Visualization Manager:
           Enabled: true
           Invert Rainbow: false
           Max Color: 255; 255; 255
-          Max Intensity: 1000.0152587890625
+          Max Intensity: 999.9847412109375
           Min Color: 0; 0; 0
           Min Intensity: 0
-          Name: lidar
+          Name: Right Lidar
           Position Transformer: XYZ
           Selectable: true
           Size (Pixels): 3
@@ -378,11 +258,45 @@ Visualization Manager:
             Filter size: 10
             History Policy: Keep Last
             Reliability Policy: Reliable
-            Value: /wamv/sensors/lidars/lidar_wamv_sensor/points
+            Value: /wamv/sensors/lidars/right_lidar_sensor/points
           Use Fixed Frame: true
           Use rainbow: true
           Value: true
-      Enabled: true
+        - Alpha: 0.800000011920929
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 26.479372024536133
+            Min Value: 0.19844436645507812
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz_default_plugins/PointCloud2
+          Color: 138; 226; 52
+          Color Transformer: Intensity
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 999.9847412109375
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: Left Lidar
+          Position Transformer: XYZ
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.03999999910593033
+          Style: Spheres
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            Filter size: 10
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /wamv/sensors/lidars/left_lidar_sensor/points
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
+      Enabled: false
       Name: Sensing
     - Class: rviz_common/Group
       Displays:
@@ -470,6 +384,40 @@ Visualization Manager:
             Reliability Policy: Reliable
             Value: /perception/task_objects/marker
           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: ""
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 4096
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: Points Concat
+          Position Transformer: ""
+          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/points_concatenate_node/output
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
       Enabled: true
       Name: Perception
     - Class: rviz_common/Group