diff --git a/launch/azimut3/az3_mapping_robot_nav.launch b/launch/azimut3/az3_mapping_robot_nav.launch
index 224f3778..1cb6b1b4 100644
--- a/launch/azimut3/az3_mapping_robot_nav.launch
+++ b/launch/azimut3/az3_mapping_robot_nav.launch
@@ -22,9 +22,9 @@
       <remap from="scan" to="/base_scan"/>
       <remap from="mapData" to="mapData"/>
 
-      <remap from="rgb/image" to="/camera/data_throttled_image"/>
-      <remap from="depth/image" to="/camera/data_throttled_image_depth"/>
-      <remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>
+      <remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
+      <remap from="depth/image" to="/camera/depth_registered/image_raw"/>
+      <remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
 
       <remap from="goal_out" to="/planner_goal"/>	
       <remap from="move_base" to="/planner/move_base"/>
@@ -84,7 +84,6 @@
 
   <!-- ROS navigation stack move_base -->
   <group ns="planner">
-     <remap from="openni_points" to="/planner_cloud"/>
      <remap from="base_scan" to="/base_scan"/>
      <remap from="map" to="/map"/>
      <remap from="move_base_simple/goal" to="/planner_goal"/>
diff --git a/launch/azimut3/config/azimut3_nav.rviz b/launch/azimut3/config/azimut3_nav.rviz
index 79928bb8..567c895c 100644
--- a/launch/azimut3/config/azimut3_nav.rviz
+++ b/launch/azimut3/config/azimut3_nav.rviz
@@ -10,7 +10,7 @@ Panels:
         - /Path1
         - /Path2
       Splitter Ratio: 0.601881
-    Tree Height: 437
+    Tree Height: 192
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Views
@@ -71,8 +71,6 @@ Visualization Manager:
           Value: true
         camera_rgb_optical_frame:
           Value: true
-        map:
-          Value: true
         odom:
           Value: true
         wheelLB_linkWheel_link:
@@ -97,31 +95,7 @@ Visualization Manager:
       Show Axes: true
       Show Names: true
       Tree:
-        map:
-          odom:
-            base_footprint:
-              base_link:
-                base_laser_link:
-                  {}
-                camera_link:
-                  camera_depth_frame:
-                    camera_depth_optical_frame:
-                      {}
-                  camera_rgb_frame:
-                    camera_rgb_optical_frame:
-                      {}
-                wheelLB_linkWheel_link:
-                  wheelLB_wheel_link:
-                    {}
-                wheelLF_linkWheel_link:
-                  wheelLF_wheel_link:
-                    {}
-                wheelRB_linkWheel_link:
-                  wheelRB_wheel_link:
-                    {}
-                wheelRF_linkWheel_link:
-                  wheelRF_wheel_link:
-                    {}
+        {}
       Update Interval: 0
       Value: true
     - Alpha: 1
@@ -379,12 +353,12 @@ Visualization Manager:
     - Class: rviz/SetInitialPose
       Topic: /initialpose
     - Class: rviz/SetGoal
-      Topic: /planner_goal
+      Topic: /rtabmap/goal
   Value: true
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 3.44552
+      Distance: 8.53098
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.06
         Stereo Focal Distance: 1
@@ -403,13 +377,13 @@ Visualization Manager:
     Saved: ~
 Window Geometry:
   Displays:
-    collapsed: true
+    collapsed: false
   Height: 504
-  Hide Left Dock: true
+  Hide Left Dock: false
   Hide Right Dock: false
   Image:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000001510000028ffc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007300000000280000028f000000dd00fffffffb0000000a0049006d006100670065000000018a0000012d0000001600fffffffb0000000a0049006d0061006700650000000184000000490000000000000000fb0000000a0049006d006100670065010000027d000000fa0000000000000000fb0000001e0054006f006f006c002000500072006f007000650072007400690065007300000002f7000000800000006400ffffff000000010000010f000001b2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000001b2000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000002ca000001b200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000151000001b2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000101000000dd00fffffffb0000000a0049006d006100670065000000018a0000012d0000001600fffffffb0000000a0049006d0061006700650000000184000000490000000000000000fb0000000a0049006d006100670065010000027d000000fa0000000000000000fb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000012f000000ab0000006400ffffff000000010000010f000001b2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000001b2000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000173000001b200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -419,5 +393,5 @@ Window Geometry:
   Views:
     collapsed: false
   Width: 714
-  X: 935
+  X: 928
   Y: 32