diff --git a/launch/azimut3/az3_remote_mapping_rviz.launch b/launch/azimut3/az3_remote_mapping_rviz.launch
index 8a11fe1f..14d464f0 100644
--- a/launch/azimut3/az3_remote_mapping_rviz.launch
+++ b/launch/azimut3/az3_remote_mapping_rviz.launch
@@ -51,7 +51,7 @@
     <node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen"/>
   </group>
    
-  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/azimut3_remote.rviz"/>
+  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/azimut3.rviz"/>
   
   <!-- Below, construct point cloud of the latest throttled data -->
   <node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager" output="screen"/>
diff --git a/launch/config/azimut3.rviz b/launch/config/azimut3.rviz
index 8ca49f56..8db03a7c 100644
--- a/launch/config/azimut3.rviz
+++ b/launch/config/azimut3.rviz
@@ -312,7 +312,7 @@ Visualization Manager:
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
-    Fixed Frame: map
+    Fixed Frame: odom
     Frame Rate: 30
   Name: root
   Tools:
diff --git a/launch/config/azimut3_remote.rviz b/launch/config/azimut3_remote.rviz
deleted file mode 100644
index 18f8cf01..00000000
--- a/launch/config/azimut3_remote.rviz
+++ /dev/null
@@ -1,368 +0,0 @@
-Panels:
-  - Class: rviz/Displays
-    Help Height: 78
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /Global Options1
-        - /TF1/Frames1
-        - /Info1
-        - /Info1/Status1
-      Splitter Ratio: 0.5
-    Tree Height: 527
-  - 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
-      - /Current View1/Focal Point1
-    Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz/Time
-    Experimental: false
-    Name: Time
-    SyncMode: 0
-    SyncSource: LaserScan
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Alpha: 0.5
-      Cell Size: 1
-      Class: rviz/Grid
-      Color: 160; 160; 164
-      Enabled: true
-      Line Style:
-        Line Width: 0.03
-        Value: Lines
-      Name: Grid
-      Normal Cell Count: 0
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Plane: XY
-      Plane Cell Count: 10
-      Reference Frame: map
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 2.02684
-        Min Value: -1.12646
-        Value: true
-      Axis: Z
-      Channel Name: rgb
-      Class: rviz/PointCloud2
-      Color: 255; 255; 255
-      Color Transformer: RGB8
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 2.34177e-38
-      Min Color: 0; 0; 0
-      Min Intensity: 9.21942e-41
-      Name: PointCloud2
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.01
-      Style: Points
-      Topic: /voxel_cloud
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - Class: rviz/TF
-      Enabled: true
-      Frame Timeout: 15
-      Frames:
-        All Enabled: false
-        base_footprint:
-          Value: true
-        base_laser_link:
-          Value: true
-        base_link:
-          Value: true
-        camera_depth_frame:
-          Value: true
-        camera_depth_optical_frame:
-          Value: true
-        camera_link:
-          Value: true
-        camera_rgb_frame:
-          Value: true
-        camera_rgb_optical_frame:
-          Value: true
-        map:
-          Value: true
-        odom:
-          Value: true
-        wheelLB_linkWheel_link:
-          Value: true
-        wheelLB_wheel_link:
-          Value: true
-        wheelLF_linkWheel_link:
-          Value: true
-        wheelLF_wheel_link:
-          Value: true
-        wheelRB_linkWheel_link:
-          Value: true
-        wheelRB_wheel_link:
-          Value: true
-        wheelRF_linkWheel_link:
-          Value: true
-        wheelRF_wheel_link:
-          Value: true
-      Marker Scale: 1
-      Name: TF
-      Show Arrows: true
-      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
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 3.12663
-        Min Value: -9.45477e-08
-        Value: true
-      Axis: X
-      Channel Name: intensity
-      Class: rviz/LaserScan
-      Color: 255; 255; 255
-      Color Transformer: AxisColor
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: LaserScan
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 5
-      Size (m): 0.01
-      Style: Points
-      Topic: /base_scan_relay
-      Use Fixed Frame: false
-      Use rainbow: true
-      Value: true
-    - Alpha: 0.7
-      Class: rviz/Map
-      Color Scheme: map
-      Draw Behind: false
-      Enabled: true
-      Name: Map
-      Topic: /rtabmap/grid_map
-      Value: true
-    - Alpha: 1
-      Class: rviz/RobotModel
-      Collision Enabled: false
-      Enabled: true
-      Links:
-        All Links Enabled: true
-        Expand Joint Details: false
-        Expand Link Details: false
-        Expand Tree: false
-        Link Tree Style: Links in Alphabetic Order
-        base_footprint:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        base_laser_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        base_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        wheelLB_linkWheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        wheelLB_wheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        wheelLF_linkWheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        wheelLF_wheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        wheelRB_linkWheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        wheelRB_wheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        wheelRF_linkWheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        wheelRF_wheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-      Name: RobotModel
-      Robot Description: robot_description
-      TF Prefix: ""
-      Update Interval: 0
-      Value: true
-      Visual Enabled: true
-    - Class: rviz/Image
-      Enabled: true
-      Image Topic: /camera/data_throttled_image_relay
-      Max Value: 1
-      Median window: 5
-      Min Value: 0
-      Name: Image
-      Normalize Range: true
-      Queue Size: 2
-      Transport Hint: raw
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rtabmap/MapCloud
-      Cloud decimation: 4
-      Cloud max depth (m): 3
-      Cloud voxel size (m): 0.02
-      Color: 255; 255; 255
-      Color Transformer: RGB8
-      Download map: false
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: MapCloud
-      Node filtering angle (degrees): 30
-      Node filtering radius (m): 0.2
-      Position Transformer: XYZ
-      Size (Pixels): 3
-      Size (m): 0.01
-      Style: Points
-      Topic: /rtabmap/mapData
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - Class: rtabmap/Info
-      Enabled: true
-      Name: Info
-      Topic: /rtabmap/info
-      Value: true
-  Enabled: true
-  Global Options:
-    Background Color: 48; 48; 48
-    Fixed Frame: map
-    Frame Rate: 30
-  Name: root
-  Tools:
-    - Class: rviz/Interact
-      Hide Inactive Objects: true
-    - Class: rviz/MoveCamera
-    - Class: rviz/Select
-    - Class: rviz/Measure
-    - Class: rviz/SetInitialPose
-      Topic: /initialpose
-    - Class: rviz/SetGoal
-      Topic: /move_base_simple/goal
-  Value: true
-  Views:
-    Current:
-      Class: rtabmap/OrbitOriented
-      Distance: 8.51031
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.06
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Focal Point:
-        X: 0
-        Y: 0
-        Z: 0
-      Name: Current View
-      Near Clip Distance: 0.01
-      Pitch: 0.8148
-      Target Frame: base_link
-      Value: OrbitOriented (rtabmap)
-      Yaw: 3.1456
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: false
-  Height: 917
-  Hide Left Dock: false
-  Hide Right Dock: false
-  Image:
-    collapsed: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000013600000377fc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000000000029e000000dd00fffffffb0000000a0049006d00610067006501000002a4000000d30000001600fffffffb0000000a0049006d006100670065010000027d000000fa0000000000000000000000010000010f00000377fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000377000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000004dd0000037700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
-  Selection:
-    collapsed: false
-  Time:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
-    collapsed: false
-  Width: 1561
-  X: 58
-  Y: 98
diff --git a/launch/demo/demo_find_object.launch b/launch/demo/demo_find_object.launch
index d0b89220..4ce1e639 100644
--- a/launch/demo/demo_find_object.launch
+++ b/launch/demo/demo_find_object.launch
@@ -52,6 +52,7 @@
   </node>
 
   <!-- Visualisation -->
+  <node name="republish_rgb" type="republish" pkg="image_transport" args="compressed in:=/camera/data_throttled_image raw out:=/camera/data_throttled_image_relay" />
   <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/azimut3.rviz" output="screen"/>
   
   <node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager" output="screen"/>