diff --git a/launch/config/azimut3_nav.rviz b/launch/config/azimut3_nav.rviz
index 843706c6..5e9c62fe 100644
--- a/launch/config/azimut3_nav.rviz
+++ b/launch/config/azimut3_nav.rviz
@@ -6,7 +6,6 @@ Panels:
       Expanded:
         - /Global Options1
         - /TF1/Frames1
-        - /MapCloud1
       Splitter Ratio: 0.601881
     Tree Height: 337
   - Class: rviz/Selection
@@ -126,8 +125,8 @@ Visualization Manager:
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
-        Max Value: 4.1956
-        Min Value: 1.5022
+        Max Value: -0.904062
+        Min Value: -2.17531
         Value: true
       Axis: X
       Channel Name: intensity
@@ -275,7 +274,7 @@ Visualization Manager:
       Download graph: false
       Download map: false
       Enabled: true
-      Filter floor (m): 0
+      Filter floor (m): 0.1
       Invert Rainbow: false
       Max Color: 255; 255; 255
       Max Intensity: 4096
@@ -383,7 +382,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rtabmap/OrbitOriented
-      Distance: 10.327
+      Distance: 25.5693
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.06
         Stereo Focal Distance: 1