diff --git a/launch/config/demo_stereo_outdoor.rviz b/launch/config/demo_stereo_outdoor.rviz
index 8c27f14d..ce7efce9 100644
--- a/launch/config/demo_stereo_outdoor.rviz
+++ b/launch/config/demo_stereo_outdoor.rviz
@@ -6,7 +6,6 @@ Panels:
       Expanded:
         - /Global Options1
         - /Status1
-        - /Info1
       Splitter Ratio: 0.5
     Tree Height: 438
   - Class: rviz/Selection
@@ -134,6 +133,7 @@ Visualization Manager:
       Download graph: false
       Download map: false
       Enabled: true
+      Filter ceiling (m): 0
       Filter floor (m): 0
       Invert Rainbow: false
       Max Color: 255; 255; 255
@@ -159,7 +159,7 @@ Visualization Manager:
       Merged neighbor: 255; 170; 0
       Name: MapGraph
       Neighbor: 0; 0; 255
-      Topic: /rtabmap/mapDataGraph_optimized
+      Topic: /rtabmap/mapGraph
       User: 255; 0; 0
       Value: true
       Virtual: 255; 0; 255
@@ -187,6 +187,64 @@ Visualization Manager:
       Name: Info
       Topic: /rtabmap/info
       Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 1.17745
+        Min Value: -1.72299
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 0
+      Color Transformer: FlatColor
+      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: OdomMap
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Points
+      Topic: /rtabmap/odom_local_map
+      Use Fixed Frame: true
+      Use rainbow: true
+      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: rviz/PointCloud2
+      Color: 85; 255; 0
+      Color Transformer: FlatColor
+      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: OdomFrame
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Points
+      Topic: /rtabmap/odom_last_frame
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -246,5 +304,5 @@ Window Geometry:
   Views:
     collapsed: false
   Width: 1341
-  X: 117
-  Y: 18
+  X: 97
+  Y: 14