diff --git a/launch/config/azimut3.rviz b/launch/config/azimut3.rviz
index b9205c27..216407a0 100644
--- a/launch/config/azimut3.rviz
+++ b/launch/config/azimut3.rviz
@@ -7,8 +7,9 @@ Panels:
         - /Global Options1
         - /TF1/Frames1
         - /RobotModel1/Links1
+        - /Image1
       Splitter Ratio: 0.5
-    Tree Height: 518
+    Tree Height: 488
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -26,7 +27,7 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: ""
+    SyncSource: LaserScan
 Visualization Manager:
   Class: ""
   Displays:
@@ -98,6 +99,8 @@ Visualization Manager:
           Value: true
         camera_rgb_optical_frame:
           Value: true
+        map:
+          Value: true
         odom:
           Value: true
         wheelLB_linkWheel_link:
@@ -122,14 +125,38 @@ 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
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
-        Max Value: 4.17777
-        Min Value: 0.0999999
+        Max Value: 8.01365
+        Min Value: 3.78738
         Value: true
       Axis: X
       Channel Name: intensity
@@ -246,7 +273,7 @@ Visualization Manager:
       Cloud max depth (m): 4
       Cloud voxel size (m): 0.02
       Color: 255; 255; 255
-      Color Transformer: ""
+      Color Transformer: RGB8
       Download map: false
       Enabled: true
       Invert Rainbow: false
@@ -255,7 +282,7 @@ Visualization Manager:
       Min Color: 0; 0; 0
       Min Intensity: 0
       Name: MapCloud
-      Position Transformer: ""
+      Position Transformer: XYZ
       Size (Pixels): 3
       Size (m): 0.01
       Style: Points
@@ -263,6 +290,17 @@ Visualization Manager:
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /camera/rgb/image_rect_color
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: compressed
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -283,30 +321,32 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 4.78697
+      Distance: 9.95894
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.06
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 0.981275
-        Y: -0.185072
-        Z: -0.258087
+        X: 0.144802
+        Y: -0.426294
+        Z: 0.661891
       Name: Current View
       Near Clip Distance: 0.01
-      Pitch: 0.6998
+      Pitch: 0.6548
       Target Frame: base_link
       Value: Orbit (rviz)
-      Yaw: 3.51418
+      Yaw: 3.05919
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 691
+  Height: 917
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000013600000295fc0200000006fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000000000000295000000dd00fffffffb0000000a0049006d00610067006501000002b1000000c70000000000000000000000010000010f00000312fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000312000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003bd0000029500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000013600000377fc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000000000000277000000dd00fffffffb0000000a0049006d00610067006501000002b1000000c70000000000000000fb0000000a0049006d006100670065010000027d000000fa0000001600ffffff000000010000010f00000312fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000312000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000004dd0000037700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -315,6 +355,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1273
-  X: 108
+  Width: 1561
+  X: 101
   Y: 202