diff --git a/example_13/bringup/config/three_robots_controllers.yaml b/example_13/bringup/config/three_robots_controllers.yaml
index fe3a2d6ca..fb66334de 100644
--- a/example_13/bringup/config/three_robots_controllers.yaml
+++ b/example_13/bringup/config/three_robots_controllers.yaml
@@ -65,7 +65,7 @@ rrbot_position_controller:
 rrbot_external_fts_broadcaster:
   ros__parameters:
     sensor_name: rrbot_tcp_fts_sensor
-    frame_id: tool_link
+    frame_id: rrbot_tool_link
 
 
 # RRBot with sensor controllers
@@ -88,8 +88,7 @@ rrbot_with_sensor_fts_broadcaster:
   ros__parameters:
     interface_names.force.x: rrbot_with_sensor_tcp_fts_sensor/force.x
     interface_names.torque.z: rrbot_with_sensor_tcp_fts_sensor/torque.z
-    frame_id: tool_link
-
+    frame_id: rrbot_with_sensor_tool_link
 
 # ThreeDofBot controllers
 threedofbot_joint_state_broadcaster:
diff --git a/example_13/description/rviz/three_robots.rviz b/example_13/description/rviz/three_robots.rviz
index aa589c99f..747e1d50e 100644
--- a/example_13/description/rviz/three_robots.rviz
+++ b/example_13/description/rviz/three_robots.rviz
@@ -6,8 +6,9 @@ Panels:
       Expanded:
         - /Global Options1
         - /Status1
+        - /Wrench2/Topic1
       Splitter Ratio: 0.5
-    Tree Height: 1110
+    Tree Height: 784
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -65,20 +66,6 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
-        rrbot_camera_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        rrbot_camera_link_optical:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        rrbot_hokuyo_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
         rrbot_link1:
           Alpha: 1
           Show Axes: false
@@ -98,20 +85,6 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
-        rrbot_with_sensor_camera_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        rrbot_with_sensor_camera_link_optical:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        rrbot_with_sensor_hokuyo_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
         rrbot_with_sensor_link1:
           Alpha: 1
           Show Axes: false
@@ -131,20 +104,6 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
-        threedofbot_camera_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        threedofbot_camera_link_optical:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        threedofbot_hokuyo_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
         threedofbot_link1:
           Alpha: 1
           Show Axes: false
@@ -168,81 +127,35 @@ Visualization Manager:
           Alpha: 1
           Show Axes: false
           Show Trail: false
+      Mass Properties:
+        Inertia: false
+        Mass: false
       Name: All Bots
       TF Prefix: ""
       Update Interval: 0
       Value: true
       Visual Enabled: true
-    - Alpha: 1
-      Class: rviz_default_plugins/RobotModel
-      Collision Enabled: false
-      Description File: ""
-      Description Source: Topic
-      Description Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /rrobt_robot_description
-      Enabled: false
-      Links:
-        All Links Enabled: true
-        Expand Joint Details: false
-        Expand Link Details: false
-        Expand Tree: false
-        Link Tree Style: Links in Alphabetic Order
-      Name: RRBotSystemPositionOnly
-      TF Prefix: rrbot_
-      Update Interval: 0
-      Value: false
-      Visual Enabled: true
-    - Alpha: 1
-      Class: rviz_default_plugins/RobotModel
-      Collision Enabled: false
-      Description File: ""
-      Description Source: Topic
-      Description Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /rrbot_with_sensor_robot_description
-      Enabled: false
-      Links:
-        All Links Enabled: true
-        Expand Joint Details: false
-        Expand Link Details: false
-        Expand Tree: false
-        Link Tree Style: Links in Alphabetic Order
-      Name: RRBotWithSensor
-      TF Prefix: rrbot_with_sensor_
-      Update Interval: 0
-      Value: false
-      Visual Enabled: true
-    - Alpha: 1
-      Class: rviz_default_plugins/RobotModel
-      Collision Enabled: false
-      Description File: ""
-      Description Source: Topic
-      Description Topic:
+    - Accept NaN Values: false
+      Alpha: 1
+      Arrow Width: 0.5
+      Class: rviz_default_plugins/Wrench
+      Enabled: true
+      Force Arrow Scale: 2
+      Force Color: 204; 51; 51
+      History Length: 1
+      Name: Wrench
+      Topic:
         Depth: 5
         Durability Policy: Volatile
+        Filter size: 10
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /threedofbot_robot_description
-      Enabled: false
-      Links:
-        All Links Enabled: true
-        Expand Joint Details: false
-        Expand Link Details: false
-        Expand Tree: false
-        Link Tree Style: Links in Alphabetic Order
-      Name: ThreeDofBot
-      TF Prefix: threedofbot_
-      Update Interval: 0
-      Value: false
-      Visual Enabled: true
-    - Alpha: 1
+        Value: /rrbot_external_fts_broadcaster/wrench
+      Torque Arrow Scale: 2
+      Torque Color: 204; 204; 51
+      Value: true
+    - Accept NaN Values: true
+      Alpha: 1
       Arrow Width: 0.5
       Class: rviz_default_plugins/Wrench
       Enabled: true
@@ -253,9 +166,10 @@ Visualization Manager:
       Topic:
         Depth: 5
         Durability Policy: Volatile
+        Filter size: 10
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /fts_broadcaster/wrench
+        Value: /rrbot_with_sensor_fts_broadcaster/wrench
       Torque Arrow Scale: 2
       Torque Color: 204; 204; 51
       Value: true
@@ -274,6 +188,9 @@ Visualization Manager:
     - Class: rviz_default_plugins/Measure
       Line color: 128; 128; 0
     - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
       Topic:
         Depth: 5
         Durability Policy: Volatile
@@ -325,16 +242,16 @@ Visualization Manager:
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1381
+  Height: 1016
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a000004fafc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000044000004fa000000fd01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000110000004fafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000044000004fa000000d301000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000784000004fa00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a000003a2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000003a2000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000110000003a2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000003a2000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000005c8000003a200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Tool Properties:
     collapsed: false
   Views:
     collapsed: false
-  Width: 2560
-  X: 0
-  Y: 30
+  Width: 1848
+  X: 72
+  Y: 27