diff --git a/ros_gz_sim_demos/launch/diff_drive.launch.xml b/ros_gz_sim_demos/launch/diff_drive.launch.xml
index 20af9e64..c09bab7f 100644
--- a/ros_gz_sim_demos/launch/diff_drive.launch.xml
+++ b/ros_gz_sim_demos/launch/diff_drive.launch.xml
@@ -11,7 +11,7 @@
     <param name="qos_overrides./model/vehicle_green.subscriber.reliability" value='reliable'></param>
   </ros_gz_bridge>
   <node pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share ros_gz_sim_demos)/rviz/diff_drive.rviz" />
-  <node pkg="tf2_ros" exec="static_transform_publisher" args="--frame-id world  --child-frame-id vehicle_green/odom" />
-  <node pkg="tf2_ros" exec="static_transform_publisher" args="--frame-id world  --child-frame-id vehicle_blue/odom" />
+  <node pkg="tf2_ros" exec="static_transform_publisher" args="--frame-id world  --child-frame-id vehicle_green/odom --y -2" />
+  <node pkg="tf2_ros" exec="static_transform_publisher" args="--frame-id world  --child-frame-id vehicle_blue/odom --y 2" />
   <executable cmd="gz sim -g" />
 </launch>
diff --git a/ros_gz_sim_demos/rviz/diff_drive.rviz b/ros_gz_sim_demos/rviz/diff_drive.rviz
index c505e100..a43e216a 100644
--- a/ros_gz_sim_demos/rviz/diff_drive.rviz
+++ b/ros_gz_sim_demos/rviz/diff_drive.rviz
@@ -6,8 +6,9 @@ Panels:
       Expanded:
         - /Global Options1
         - /Odometry1
+        - /Odometry2
       Splitter Ratio: 0.5
-    Tree Height: 688
+    Tree Height: 701
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -23,6 +24,24 @@ Panels:
 Visualization Manager:
   Class: ""
   Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
     - Angle Tolerance: 0.10000000149011612
       Class: rviz_default_plugins/Odometry
       Covariance:
@@ -62,6 +81,45 @@ Visualization Manager:
         Reliability Policy: Reliable
         Value: /model/vehicle_blue/odometry
       Value: true
+    - Angle Tolerance: 0.10000000149011612
+      Class: rviz_default_plugins/Odometry
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: true
+        Position:
+          Alpha: 0.30000001192092896
+          Color: 204; 51; 204
+          Scale: 1
+          Value: true
+        Value: true
+      Enabled: true
+      Keep: 100
+      Name: Odometry
+      Position Tolerance: 0.10000000149011612
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.10000000149011612
+        Color: 255; 25; 0
+        Head Length: 0.30000001192092896
+        Head Radius: 0.10000000149011612
+        Shaft Length: 1
+        Shaft Radius: 0.05000000074505806
+        Value: Arrow
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /model/vehicle_green/odometry
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -106,25 +164,25 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 68.66040802001953
+      Distance: 21.00491714477539
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: -1.2689772844314575
-        Y: 10.203336715698242
-        Z: -2.8907392024993896
+        X: -0.4080231189727783
+        Y: 0.40098077058792114
+        Z: 2.436375617980957
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 1.5697963237762451
+      Pitch: 0.5847957730293274
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 0.8253979682922363
+      Yaw: 0.4803982973098755
     Saved: ~
 Window Geometry:
   Displays:
@@ -132,7 +190,7 @@ Window Geometry:
   Height: 846
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000023d000002f0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f000002f0000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002f8fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000002f8000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000026d000002f000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000023d000002f8fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002f8000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002f8fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000002f8000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000026d000002f800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Tool Properties:
@@ -140,5 +198,5 @@ Window Geometry:
   Views:
     collapsed: false
   Width: 1200
-  X: 325
-  Y: 158
+  X: 554
+  Y: 154