diff --git a/opennav_coverage_demo/params/rviz_config.rviz b/opennav_coverage_demo/params/rviz_config.rviz
index 9713e0e..77f2c32 100644
--- a/opennav_coverage_demo/params/rviz_config.rviz
+++ b/opennav_coverage_demo/params/rviz_config.rviz
@@ -9,10 +9,8 @@ Panels:
         - /TF1/Tree1
         - /Path1
         - /Polygon1
-        - /Polygon1/Status1
         - /MarkerArray2
         - /Marker1
-        - /Marker1/Status1
       Splitter Ratio: 0.5833333134651184
     Tree Height: 333
   - Class: rviz_common/Selection
@@ -85,24 +83,28 @@ Visualization Manager:
           Value: true
         base_link:
           Value: true
+        base_scan:
+          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
         caster_back_left_link:
           Value: true
         caster_back_right_link:
           Value: true
-        gps_link:
-          Value: true
         imu_link:
           Value: true
         map:
           Value: true
-        map__identity:
-          Value: true
         odom:
           Value: true
-        origin:
-          Value: true
-        utm:
-          Value: true
         wheel_left_link:
           Value: true
         wheel_right_link:
@@ -117,24 +119,25 @@ Visualization Manager:
           odom:
             base_footprint:
               base_link:
+                base_scan:
+                  {}
+                camera_link:
+                  camera_depth_frame:
+                    camera_depth_optical_frame:
+                      {}
+                  camera_rgb_frame:
+                    camera_rgb_optical_frame:
+                      {}
                 caster_back_left_link:
                   {}
                 caster_back_right_link:
                   {}
-                gps_link:
-                  {}
                 imu_link:
                   {}
                 wheel_left_link:
                   {}
                 wheel_right_link:
                   {}
-          origin:
-            {}
-          utm:
-            {}
-        map__identity:
-          {}
       Update Interval: 0
       Value: true
     - Alpha: 1
@@ -152,9 +155,9 @@ Visualization Manager:
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 0
+      Max Intensity: -999999
       Min Color: 0; 0; 0
-      Min Intensity: 0
+      Min Intensity: 999999
       Name: LaserScan
       Position Transformer: XYZ
       Selectable: true
@@ -604,7 +607,7 @@ Visualization Manager:
       Enabled: true
       Name: Marker
       Namespaces:
-        {}
+        "": true
       Topic:
         Depth: 5
         Durability Policy: Volatile
@@ -660,11 +663,11 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Scale: 107.46540832519531
+      Scale: 59.074974060058594
       Target Frame: <Fixed Frame>
       Value: TopDownOrtho (rviz_default_plugins)
-      X: 0
-      Y: 0
+      X: 10.213441848754883
+      Y: 9.93270492553711
     Saved: ~
 Window Geometry:
   Displays: