diff --git a/nav2_bringup/rviz/nav2_default_view.rviz b/nav2_bringup/rviz/nav2_default_view.rviz
index 01116aa7ce..c8dd376858 100644
--- a/nav2_bringup/rviz/nav2_default_view.rviz
+++ b/nav2_bringup/rviz/nav2_default_view.rviz
@@ -8,7 +8,7 @@ Panels:
         - /TF1/Frames1
         - /TF1/Tree1
       Splitter Ratio: 0.5833333134651184
-    Tree Height: 406
+    Tree Height: 287
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -76,6 +76,8 @@ Visualization Manager:
       Visual Enabled: true
     - Class: rviz_default_plugins/TF
       Enabled: true
+      Filter (blacklist): ""
+      Filter (whitelist): ""
       Frame Timeout: 15
       Frames:
         All Enabled: false
@@ -101,8 +103,6 @@ Visualization Manager:
           Value: true
         imu_link:
           Value: true
-        map:
-          Value: true
         odom:
           Value: true
         wheel_left_link:
@@ -115,29 +115,7 @@ Visualization Manager:
       Show Axes: true
       Show Names: false
       Tree:
-        map:
-          odom:
-            base_footprint:
-              base_link:
-                base_scan:
-                  {}
-                camera_link:
-                  camera_depth_frame:
-                    camera_depth_optical_frame:
-                      {}
-                  camera_rgb_frame:
-                    camera_rgb_optical_frame:
-                      {}
-                caster_back_left_link:
-                  {}
-                caster_back_right_link:
-                  {}
-                imu_link:
-                  {}
-                wheel_left_link:
-                  {}
-                wheel_right_link:
-                  {}
+        {}
       Update Interval: 0
       Value: true
     - Alpha: 1
@@ -201,7 +179,6 @@ Visualization Manager:
       Topic:
         Depth: 5
         Durability Policy: Volatile
-        Filter size: 10
         History Policy: Keep Last
         Reliability Policy: Best Effort
         Value: /mobile_base/sensors/bumper_pointcloud
@@ -209,6 +186,8 @@ Visualization Manager:
       Use rainbow: true
       Value: true
     - Alpha: 1
+      Binary representation: false
+      Binary threshold: 100
       Class: rviz_default_plugins/Map
       Color Scheme: map
       Draw Behind: true
@@ -217,29 +196,39 @@ Visualization Manager:
       Topic:
         Depth: 1
         Durability Policy: Transient Local
+        Filter size: 10
         History Policy: Keep Last
         Reliability Policy: Reliable
         Value: /map
+      Update Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /map_updates
       Use Timestamp: false
       Value: true
     - Alpha: 1
       Class: nav2_rviz_plugins/ParticleCloud
       Color: 0; 180; 0
       Enabled: true
-      Max Arrow Length: 0.3
-      Min Arrow Length: 0.02
+      Max Arrow Length: 0.30000001192092896
+      Min Arrow Length: 0.019999999552965164
       Name: Amcl Particle Swarm
       Shape: Arrow (Flat)
       Topic:
         Depth: 5
         Durability Policy: Volatile
+        Filter size: 10
         History Policy: Keep Last
         Reliability Policy: Best Effort
         Value: /particle_cloud
       Value: true
     - Class: rviz_common/Group
       Displays:
-        - Alpha: 0.3
+        - Alpha: 0.30000001192092896
+          Binary representation: false
+          Binary threshold: 100
           Class: rviz_default_plugins/Map
           Color Scheme: costmap
           Draw Behind: false
@@ -248,12 +237,21 @@ Visualization Manager:
           Topic:
             Depth: 1
             Durability Policy: Transient Local
+            Filter size: 10
             History Policy: Keep Last
             Reliability Policy: Reliable
             Value: /global_costmap/costmap
+          Update Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /global_costmap/costmap_updates
           Use Timestamp: false
           Value: true
-        - Alpha: 0.3
+        - Alpha: 0.30000001192092896
+          Binary representation: false
+          Binary threshold: 100
           Class: rviz_default_plugins/Map
           Color Scheme: costmap
           Draw Behind: false
@@ -329,7 +327,6 @@ Visualization Manager:
           Topic:
             Depth: 5
             Durability Policy: Volatile
-            Filter size: 10
             History Policy: Keep Last
             Reliability Policy: Reliable
             Value: /global_costmap/voxel_marked_cloud
@@ -354,6 +351,8 @@ Visualization Manager:
     - Class: rviz_common/Group
       Displays:
         - Alpha: 0.699999988079071
+          Binary representation: false
+          Binary threshold: 100
           Class: rviz_default_plugins/Map
           Color Scheme: costmap
           Draw Behind: false
@@ -454,7 +453,6 @@ Visualization Manager:
           Topic:
             Depth: 5
             Durability Policy: Volatile
-            Filter size: 10
             History Policy: Keep Last
             Reliability Policy: Reliable
             Value: /local_costmap/voxel_marked_cloud
@@ -506,7 +504,6 @@ Visualization Manager:
           Topic:
             Depth: 5
             Durability Policy: Volatile
-            Filter size: 10
             History Policy: Keep Last
             Reliability Policy: Reliable
             Value: /intel_realsense_r200_depth/points
@@ -577,7 +574,7 @@ Visualization Manager:
       Scale: 54
       Target Frame: <Fixed Frame>
       Value: TopDownOrtho (rviz_default_plugins)
-      X: -5.41
+      X: -5.409999847412109
       Y: 0
     Saved: ~
 Window Geometry:
@@ -585,12 +582,12 @@ Window Geometry:
     collapsed: false
   Docking:
     collapsed: false
-  Height: 1043
+  Height: 893
   Hide Left Dock: false
   Hide Right Dock: false
   Navigation 2:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a000003b9fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000100044006900730070006c006100790073010000003d000001d3000000c900fffffffb00000018004e0061007600690067006100740069006f006e002000320100000216000001e0000001e000fffffffb0000001e005200650061006c00730065006e0073006500430061006d00650072006100000002c6000000c10000002800ffffff000000010000015b000003b9fc0200000005fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000001b5000000a400fffffffb0000000e0044006f0063006b0069006e006701000001f8000001320000013200fffffffb0000001000530065006c006500630074006f00720100000330000000c6000000c600fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000469000003b900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000015600000327fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000100044006900730070006c006100790073010000003b0000015a000000c700fffffffb00000018004e0061007600690067006100740069006f006e00200032010000019b000001c7000001c700fffffffb0000001e005200650061006c00730065006e0073006500430061006d00650072006100000002c6000000c10000002800ffffff000000010000014700000327fc0200000005fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b00000143000000a000fffffffb0000000e0044006f0063006b0069006e006701000001840000011e0000011e00fffffffb0000001000530065006c006500630074006f007201000002a8000000ba000000ba00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000003a10000032700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   RealsenseCamera:
     collapsed: false
   Selection:
@@ -601,6 +598,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1850
-  X: 1990
-  Y: 0
+  Width: 1610
+  X: 1091
+  Y: 222