diff --git a/launch/azimut3/az3_mapping_client_rviz_nav.launch b/launch/azimut3/az3_mapping_client_rviz_nav.launch
index ef3aa710..4180b864 100644
--- a/launch/azimut3/az3_mapping_client_rviz_nav.launch
+++ b/launch/azimut3/az3_mapping_client_rviz_nav.launch
@@ -11,8 +11,7 @@
   <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/azimut3_nav.rviz"/>
   
   <!-- Below, construct point cloud of the latest throttled data, disabled for bandwidth efficiency -->
-  <node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager" output="screen"/>
-  <node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
+  <node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap/point_cloud_xyzrgb">
     <remap from="rgb/image"       to="/camera/data_throttled_image_relay"/>
     <remap from="depth/image"     to="/camera/data_throttled_image_depth_relay"/>
     <remap from="rgb/camera_info" to="/camera/data_throttled_camera_info_relay"/>
diff --git a/launch/config/azimut3_nav.rviz b/launch/config/azimut3_nav.rviz
index 01eda8e0..922547d1 100644
--- a/launch/config/azimut3_nav.rviz
+++ b/launch/config/azimut3_nav.rviz
@@ -6,18 +6,10 @@ Panels:
       Expanded:
         - /Global Options1
         - /TF1/Frames1
-        - /MapCloud1
-        - /Info1
-      Splitter Ratio: 0.674658
-    Tree Height: 497
+      Splitter Ratio: 0.477273
+    Tree Height: 459
   - Class: rviz/Selection
     Name: Selection
-  - Class: rviz/Tool Properties
-    Expanded:
-      - /2D Pose Estimate1
-      - /2D Nav Goal1
-    Name: Tool Properties
-    Splitter Ratio: 0.588679
   - Class: rviz/Views
     Expanded:
       - /Current View1
@@ -28,7 +20,13 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: LaserScan
+    SyncSource: Info
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+    Name: Tool Properties
+    Splitter Ratio: 0.5
 Visualization Manager:
   Class: ""
   Displays:
@@ -156,8 +154,8 @@ Visualization Manager:
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
-        Max Value: 3.74695
-        Min Value: -2.17552e-07
+        Max Value: 7.24125
+        Min Value: 1.59028
         Value: true
       Axis: X
       Channel Name: intensity
@@ -194,10 +192,10 @@ Visualization Manager:
       Class: rviz/Map
       Color Scheme: costmap
       Draw Behind: false
-      Enabled: true
+      Enabled: false
       Name: Map
       Topic: /planner/move_base/local_costmap/costmap
-      Value: true
+      Value: false
     - Alpha: 0.7
       Class: rviz/Map
       Color Scheme: costmap
@@ -357,6 +355,13 @@ Visualization Manager:
       Name: Path
       Topic: /planner/move_base/TrajectoryPlannerROS/local_plan
       Value: true
+    - Alpha: 1
+      Class: rtabmap/MapGraph
+      Color: 0; 0; 255
+      Enabled: true
+      Name: MapGraph
+      Topic: /rtabmap/mapData_relay
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -377,22 +382,22 @@ Visualization Manager:
   Views:
     Current:
       Class: rtabmap/OrbitOriented
-      Distance: 5.21912
+      Distance: 13.4608
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.06
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 0.112302
-        Y: 0.0241702
-        Z: -0.051079
+        X: -0.188739
+        Y: -0.297
+        Z: 0.157103
       Name: Current View
       Near Clip Distance: 0.01
-      Pitch: 0.769797
+      Pitch: 1.1698
       Target Frame: base_link
       Value: OrbitOriented (rtabmap)
-      Yaw: 3.11563
+      Yaw: 2.92062
     Saved: ~
 Window Geometry:
   Displays:
@@ -402,7 +407,7 @@ Window Geometry:
   Hide Right Dock: false
   Image:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000001360000034ffc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df000002b1000000f3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000280000000dd00fffffffb0000000a0049006d00610067006501000002ae000000c90000001600fffffffb0000000a0049006d006100670065010000027d000000fa0000000000000000000000010000010f00000377fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000377000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000004dd0000034f00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001510000034ffc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000025a000000dd00fffffffb0000000a0049006d0061006700650100000288000000ef0000001600fffffffb0000000a0049006d006100670065010000027d000000fa0000000000000000fb0000001e0054006f006f006c002000500072006f007000650072007400690065007300000002f7000000800000006400ffffff000000010000010f00000377fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000377000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000004c20000034f00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time: