diff --git a/config/navi_sim.rviz b/config/navi_sim.rviz
index e099f19..4f86f4e 100644
--- a/config/navi_sim.rviz
+++ b/config/navi_sim.rviz
@@ -10,9 +10,12 @@ Panels:
     Property Tree Widget:
       Expanded:
         - /Status1
+        - /Sensing1
+        - /Perception1
         - /Perception1/ConcatenatedPoints1/Autocompute Value Bounds1
-      Splitter Ratio: 0.5
-    Tree Height: 567
+        - /Perception1/GridMap2
+      Splitter Ratio: 0.4986666738986969
+    Tree Height: 611
   - Class: rviz_common/Tool Properties
     Expanded: ~
     Name: Tool Properties
@@ -178,6 +181,9 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+      Mass Properties:
+        Inertia: false
+        Mass: false
       Name: RobotModel
       TF Prefix: ""
       Update Interval: 0
@@ -623,10 +629,10 @@ Visualization Manager:
           Autocompute Intensity Bounds: true
           Class: grid_map_rviz_plugin/GridMap
           Color: 200; 200; 200
-          Color Layer: point_combined_layer
+          Color Layer: combined
           Color Transformer: IntensityLayer
           Enabled: true
-          Height Layer: point_combined_layer
+          Height Layer: combined
           Height Transformer: Layer
           History Length: 1
           Invert Rainbow: false
@@ -642,17 +648,17 @@ Visualization Manager:
             Filter size: 10
             History Policy: Keep Last
             Reliability Policy: Reliable
-            Value: /perception/combine_grid_map
+            Value: /perception/grid_map
           Use Rainbow: false
           Value: true
         - Alpha: 0.5
           Autocompute Intensity Bounds: true
           Class: grid_map_rviz_plugin/GridMap
           Color: 200; 200; 200
-          Color Layer: scan_combined_layer
+          Color Layer: interpolation_layer
           Color Transformer: IntensityLayer
           Enabled: true
-          Height Layer: scan_combined_layer
+          Height Layer: interpolation_layer
           Height Transformer: Layer
           History Length: 1
           Invert Rainbow: false
@@ -668,7 +674,7 @@ Visualization Manager:
             Filter size: 10
             History Policy: Keep Last
             Reliability Policy: Reliable
-            Value: /perception/combine_grid_map
+            Value: /perception/interpolation_grid_map
           Use Rainbow: false
           Value: true
       Enabled: true
@@ -855,37 +861,37 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/ThirdPersonFollower
-      Distance: 19.659921646118164
+      Distance: 18.270605087280273
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: -7.148181915283203
-        Y: 2.7798280715942383
-        Z: -2.124808133885381e-06
+        X: 1.7567415237426758
+        Y: 2.6900899410247803
+        Z: 2.666263299033744e-07
       Focal Shape Fixed Size: false
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 1.0797966718673706
+      Pitch: 0.9697966575622559
       Target Frame: base_link
       Value: ThirdPersonFollower (rviz_default_plugins)
-      Yaw: 3.230405569076538
+      Yaw: 3.535405158996582
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 962
+  Height: 1016
   Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd00000002000000000000017900000368fc0200000003fb000000100044006900730070006c006100790073010000003d000002ba000000c900fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007301000002fd000000a80000005c00fffffffb0000000a0049006d006100670065000000029a0000010b000000000000000000000001000001cb00000506fc0200000001fb0000000a00560069006500770073000000003d00000506000000a400ffffff000006010000036800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000200000000000001d40000039efc0200000003fb000000100044006900730070006c006100790073010000003d000002e6000000c900fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000329000000b20000005c00fffffffb0000000a0049006d006100670065000000029a0000010b000000000000000000000001000001cb00000506fc0200000001fb0000000a00560069006500770073000000003d00000506000000a400ffffff0000055c0000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Tool Properties:
     collapsed: false
   Views:
     collapsed: true
-  Width: 1920
-  X: 0
+  Width: 1846
+  X: 74
   Y: 27