diff --git a/lidarbot_description/rviz/description.rviz b/lidarbot_description/rviz/description.rviz
index 963d71b..f4a9734 100644
--- a/lidarbot_description/rviz/description.rviz
+++ b/lidarbot_description/rviz/description.rviz
@@ -5,12 +5,9 @@ Panels:
     Property Tree Widget:
       Expanded:
         - /Global Options1
-        - /Status1
-        - /RobotModel1
-        - /TF1
         - /TF1/Frames1
       Splitter Ratio: 0.5
-    Tree Height: 617
+    Tree Height: 814
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -63,21 +60,25 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
+        base_footprint:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
         base_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
+          Value: true
         camera_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        caster_wheel:
+        camera_link_optical:
           Alpha: 1
           Show Axes: false
           Show Trail: false
-          Value: true
-        chassis_link:
+        caster_wheel:
           Alpha: 1
           Show Axes: false
           Show Trail: false
@@ -87,19 +88,24 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
-        lidar_link:
+        left_wheel:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        left_wheel:
+        lidar_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
+          Value: true
         right_wheel:
           Alpha: 1
           Show Axes: false
           Show Trail: false
+          Value: true
+      Mass Properties:
+        Inertia: false
+        Mass: false
       Name: RobotModel
       TF Prefix: ""
       Update Interval: 0
@@ -110,40 +116,43 @@ Visualization Manager:
       Frame Timeout: 15
       Frames:
         All Enabled: false
+        base_footprint:
+          Value: true
         base_link:
           Value: false
         camera_link:
-          Value: false 
-        caster_wheel:
           Value: false
-        chassis_link:
+        camera_link_optical:
+          Value: true
+        caster_wheel:
           Value: false
         imu_link:
           Value: false
-        lidar_link:
-          Value: false
         left_wheel:
           Value: false
+        lidar_link:
+          Value: false
         right_wheel:
           Value: false
       Marker Scale: 1
       Name: TF
       Show Arrows: false
-      Show Axes: false 
+      Show Axes: false
       Show Names: false
       Tree:
-        base_link:
-          chassis_link:
+        base_footprint:
+          base_link:
             camera_link:
-              {}
+              camera_link_optical:
+                {}
             caster_wheel:
               {}
             imu_link:
               {}
-            lidar_link:
-              {}
             left_wheel:
               {}
+            lidar_link:
+              {}
             right_wheel:
               {}
       Update Interval: 0
@@ -151,7 +160,7 @@ Visualization Manager:
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
-    Fixed Frame: base_link 
+    Fixed Frame: base_footprint
     Frame Rate: 30
   Name: root
   Tools:
@@ -163,6 +172,9 @@ Visualization Manager:
     - Class: rviz_default_plugins/Measure
       Line color: 128; 128; 0
     - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
       Topic:
         Depth: 5
         Durability Policy: Volatile
@@ -191,39 +203,39 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 4.434264183044434
+      Distance: 1.8121755123138428
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 0.31193429231643677
-        Y: 0.11948385089635849
-        Z: -0.4807402193546295
+        X: -0.06942704319953918
+        Y: 0.09426036477088928
+        Z: -0.20152248442173004
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.490397572517395
+      Pitch: 0.705397367477417
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 1.0503965616226196
+      Yaw: 0.9653966426849365
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 846
+  Height: 1043
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000156000002f4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002f4000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002f4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002f4000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000023f000002f400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000003b9fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003b9000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003b9fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000003b9000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000050f000003b900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Tool Properties:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1200
-  X: 246
-  Y: 77
\ No newline at end of file
+  Width: 1920
+  X: 1920
+  Y: 0
diff --git a/lidarbot_slam/config/.mapper_params_online_async.yaml.swp b/lidarbot_slam/config/.mapper_params_online_async.yaml.swp
new file mode 100644
index 0000000..8d544bf
Binary files /dev/null and b/lidarbot_slam/config/.mapper_params_online_async.yaml.swp differ