diff --git a/launch/azimut3/az3_mapping_client.launch b/launch/azimut3/az3_mapping_client.launch
new file mode 100644
index 00000000..6973d133
--- /dev/null
+++ b/launch/azimut3/az3_mapping_client.launch
@@ -0,0 +1,21 @@
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diff --git a/launch/azimut3/az3_mapping_client_rviz.launch b/launch/azimut3/az3_mapping_client_rviz.launch
new file mode 100644
index 00000000..d3d87a49
--- /dev/null
+++ b/launch/azimut3/az3_mapping_client_rviz.launch
@@ -0,0 +1,43 @@
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diff --git a/launch/azimut3/az3_mapping_robot.launch b/launch/azimut3/az3_mapping_robot.launch
new file mode 100644
index 00000000..01eb0229
--- /dev/null
+++ b/launch/azimut3/az3_mapping_robot.launch
@@ -0,0 +1,57 @@
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diff --git a/launch/azimut3/az3_record.launch b/launch/azimut3/az3_record.launch
new file mode 100644
index 00000000..03cf9fb7
--- /dev/null
+++ b/launch/azimut3/az3_record.launch
@@ -0,0 +1,21 @@
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diff --git a/launch/config/rgbd_gui.ini b/launch/config/rgbd_gui.ini
index 693ce77a..9867ea7a 100644
--- a/launch/config/rgbd_gui.ini
+++ b/launch/config/rgbd_gui.ini
@@ -13,8 +13,8 @@ General\beep=false
General\keypointsOpacity=16
General\voxelSize=0
General\decimation=16
-MainWindow\state="@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\0\xfa\0\0\x2\xba\xfc\x2\0\0\0\x1\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x61\0t\0s\0V\0\x32\0\0\0\0(\0\0\x2\xba\0\0\0\xe0\0\xff\xff\xff\0\0\0\x1\0\0\x5\0\0\0\x2\x92\xfc\x2\0\0\0\x2\xfc\0\0\0(\0\0\x2\x92\0\0\0\xe1\0\xff\xff\xff\xfc\x1\0\0\0\x2\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0i\0m\0\x61\0g\0\x65\0V\0i\0\x65\0w\x1\0\0\0\0\0\0\x1\\\0\0\0]\0\xff\xff\xff\xfc\0\0\x1\x62\0\0\x3\x9e\0\0\0\xe6\x1\0\0\x1d\xfa\0\0\0\x1\x2\0\0\0\x2\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0g\0r\0\x61\0p\0h\0V\0i\0\x65\0w\0\x65\0r\x1\0\0\0\0\xff\xff\xff\xff\0\0\0g\0\xff\xff\xff\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0l\0o\0u\0\x64\0V\0i\0\x65\0w\0\x65\0r\x1\0\0\0(\0\0\x2\x92\0\0\0\xe1\0\xff\xff\xff\xfb\0\0\0\x38\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0o\0o\0p\0\x43\0l\0o\0s\0u\0r\0\x65\0V\0i\0\x65\0w\0\x65\0r\0\0\0\x1I\0\0\0\xf7\0\0\0\xf7\0\xff\xff\xff\0\0\0\x3\0\0\x5\0\0\0\0g\xfc\x1\0\0\0\x5\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0o\0s\0t\0\x65\0r\0i\0o\0r\0\0\0\0\0\0\0\x5\xd0\0\0\0\x87\0\xff\xff\xff\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0o\0n\0s\0o\0l\0\x65\0\0\0\x5u\0\0\0\xea\0\0\0g\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0r\0\x61\0w\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0m\0\x61\0p\0V\0i\0s\0i\0\x62\0i\0l\0i\0t\0y\0\0\0\0\0\xff\xff\xff\xff\0\0\0`\0\xff\xff\xff\0\0\0\0\0\0\x2\x92\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\x1\0\0\0\x2\0\0\0\x1\0\0\0\xe\0t\0o\0o\0l\0\x42\0\x61\0r\x1\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0)"
-MainWindow\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\0\0\0\xd8\0\0\x1\x14\0\0\x5\xe7\0\0\x4\a\0\0\0\xe0\0\0\x1\x30\0\0\x5\xdf\0\0\x3\xff\0\0\0\0\0\0)
+MainWindow\state="@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\0\xfa\0\0\x2\xba\xfc\x2\0\0\0\x1\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x61\0t\0s\0V\0\x32\0\0\0\0(\0\0\x2\xba\0\0\0\xe0\0\xff\xff\xff\0\0\0\x1\0\0\x5\0\0\0\x1\xf0\xfc\x2\0\0\0\x2\xfc\0\0\0(\0\0\x1\xf0\0\0\0\xe1\0\xff\xff\xff\xfc\x1\0\0\0\x2\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0i\0m\0\x61\0g\0\x65\0V\0i\0\x65\0w\x1\0\0\0\0\0\0\x1\\\0\0\0]\0\xff\xff\xff\xfc\0\0\x1\x62\0\0\x3\x9e\0\0\0\xe6\x1\0\0\x1d\xfa\0\0\0\x1\x2\0\0\0\x2\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0g\0r\0\x61\0p\0h\0V\0i\0\x65\0w\0\x65\0r\x1\0\0\0\0\xff\xff\xff\xff\0\0\0g\0\xff\xff\xff\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0l\0o\0u\0\x64\0V\0i\0\x65\0w\0\x65\0r\x1\0\0\0(\0\0\x2\x92\0\0\0\xe1\0\xff\xff\xff\xfb\0\0\0\x38\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0o\0o\0p\0\x43\0l\0o\0s\0u\0r\0\x65\0V\0i\0\x65\0w\0\x65\0r\0\0\0\x1I\0\0\0\xf7\0\0\0\xf7\0\xff\xff\xff\0\0\0\x3\0\0\x5\0\0\0\0\x9c\xfc\x1\0\0\0\x5\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0o\0s\0t\0\x65\0r\0i\0o\0r\x1\0\0\0\0\0\0\x5\0\0\0\0\x8d\0\xff\xff\xff\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0o\0n\0s\0o\0l\0\x65\0\0\0\x5u\0\0\0\xea\0\0\0g\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0r\0\x61\0w\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0m\0\x61\0p\0V\0i\0s\0i\0\x62\0i\0l\0i\0t\0y\0\0\0\0\0\xff\xff\xff\xff\0\0\0`\0\xff\xff\xff\0\0\0\0\0\0\x1\xf0\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\x1\0\0\0\x2\0\0\0\x1\0\0\0\xe\0t\0o\0o\0l\0\x42\0\x61\0r\x1\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0)"
+MainWindow\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\0\0\x1\xb1\0\0\0\xa1\0\0\x6\xc0\0\0\x3\x94\0\0\x1\xb9\0\0\0\xbd\0\0\x6\xb8\0\0\x3\x8c\0\0\0\0\0\0)
General\showClouds0=true
General\voxelSize0=0
General\decimation0=4
@@ -42,3 +42,11 @@ General\meshing0=false
General\cloudFiltering=false
General\cloudFilteringRadius=0.5
General\cloudFilteringAngle=30
+General\meshNormalKSearch0=20
+General\meshGP3Radius0=0.04
+General\meshSmoothing0=false
+General\meshSmoothingRadius0=0.04
+General\meshNormalKSearch1=20
+General\meshGP3Radius1=0.04
+General\meshSmoothing1=true
+General\meshSmoothingRadius1=0.04