diff --git a/atlascar2_bringup/launch/record_sensor_data_sim.launch b/atlascar2_bringup/launch/record_sensor_data_sim.launch
new file mode 100755
index 0000000..540469e
--- /dev/null
+++ b/atlascar2_bringup/launch/record_sensor_data_sim.launch
@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+<launch>
+    <!--arguments-->
+    <arg name="only_raw_data" default="true"/>
+    <!--Whether or not to record only raw data-->
+    <arg name="bag" default="atlascar2"/>
+
+    <param name="/use_sim_time" value="false"/>
+
+    <!--To record only raw data-->
+    <group if="$(arg only_raw_data)">
+        <node name="rosbag_record" pkg="rosbag" type="record" output="screen" args="
+            /atlascar2/frontal_laser/cloud
+            /atlascar2/left_laser/laserscan
+            /atlascar2/right_laser/laserscan
+            /atlascar2/top_left_camera/camera_info
+            /atlascar2/top_left_camera/image_raw/compressed
+            /atlascar2/top_right_camera/camera_info
+            /atlascar2/top_right_camera/image_raw/compressed
+            /lidar_1/velodyne_points
+            /tf
+            /tf_static
+            /atlascar2/joint_states
+            /atlascar2/ackermann_steering_controller/cmd_vel
+            /atlascar2/ackermann_steering_controller/odom
+            -o /tmp/bag_file.bag">
+        </node>
+
+<!--        http://wiki.ros.org/openni_launch/Tutorials/BagRecordingPlayback-->
+    </group>
+</launch>
\ No newline at end of file
diff --git a/atlascar2_calibration/calibration/config.yml b/atlascar2_calibration/calibration/config.yml
index 965e29c..40fe191 100644
--- a/atlascar2_calibration/calibration/config.yml
+++ b/atlascar2_calibration/calibration/config.yml
@@ -33,7 +33,8 @@
 description_file: "package://atlascar2_description/urdf/atlascar2_ackermann_VLP.urdf.xacro"
 
 # The calibration framework requires a bagfile to extract the necessary data for the calibration.
-bag_file: "$ROS_BAGS/atlascar2/gazebo_fixed.bag"
+# bag_file: "$ROS_BAGS/atlascar2/gazebo_fixed.bag"
+bag_file: "$ROS_BAGS/atlascar2/test_miguel.bag"
 
 # You must define a frame of reference for the optimization process.
 # It must exist in the transformation chains of all the sensors which are being calibrated.
@@ -72,22 +73,22 @@ sensors:
   #   /world_camera/rgb/image_raw
   #
 
-  top_left_camera: 
+  top_left_camera:
     link: "atlascar2/top_left_camera_optical"
     parent_link: "atlascar2/base_link"
     child_link: "atlascar2/top_left_camera"
     topic_name: "/atlascar2/top_left_camera/image_raw"
     throttle: 10
     modality: rgb
-  
-  top_right_camera: 
+
+  top_right_camera:
     link: "atlascar2/top_right_camera_optical"
     parent_link: "atlascar2/base_link"
     child_link: "atlascar2/top_right_camera"
     topic_name: "/atlascar2/top_right_camera/image_raw"
     throttle: 10
     modality: rgb
-  
+
   lidar_1:
     link: "atlascar2/VLP_lidar"
     parent_link: "atlascar2/base_link"
@@ -98,7 +99,6 @@ sensors:
 # The calibration requires a detectable pattern.
 # This section describes the properties of the calibration pattern used in th calibration.
 calibration_pattern:
-
   # The frame id (or link) of the pattern.
   # This link/transformation will be optimized.
   link: "pattern_link"
@@ -130,14 +130,13 @@ calibration_pattern:
   # The border width from the edge corner to the pattern physical edge.
   # Used for 3D sensors and lidars.
   # It can be a scalar (same border in x and y directions), or it can be {'x': ..., 'y': ,,,}
-  border_size: {'x': 0.04, 'y': 0.03}
-
+  border_size: { "x": 0.04, "y": 0.03 }
 
   # The number of corners the pattern has in the X and Y dimensions.
   # Note: The charuco detector uses the number of squares per dimension in its detector.
   # Internally we add a +1 to Y and X dimensions to account for that.
   # Therefore, the number of corners should be used even for the charuco pattern.
-  dimension: {"x": 11, "y": 8}
+  dimension: { "x": 11, "y": 8 }
 
   # The length of the square edge.
   size: 0.06
@@ -145,7 +144,6 @@ calibration_pattern:
   # The length of the charuco inner marker.
   inner_size: 0.045
 
-
 # Miscellaneous configuration
 
 # If your calibration problem is not fully constrained you should anchored one of the sensors.
@@ -155,4 +153,3 @@ anchored_sensor: ""
 
 # Max time delta (in milliseconds) between sensor data messages when creating a collection.
 max_duration_between_msgs: 1000
-
diff --git a/atlascar2_calibration/calibration/summary.pdf b/atlascar2_calibration/calibration/summary.pdf
index ca21b18..ff45287 100644
Binary files a/atlascar2_calibration/calibration/summary.pdf and b/atlascar2_calibration/calibration/summary.pdf differ
diff --git a/atlascar2_calibration/launch/collect_data.launch b/atlascar2_calibration/launch/collect_data.launch
index 3c4362f..44d9670 100644
--- a/atlascar2_calibration/launch/collect_data.launch
+++ b/atlascar2_calibration/launch/collect_data.launch
@@ -25,7 +25,7 @@
 @arg marker_size   The size of the interaction marker that is used to trigger a data save.
 
 @arg bag_file  Absolute path to the playing bag.
-    default: $(env ROS_BAGS)/atlascar2/gazebo_fixed.bag
+    default: $(env ROS_BAGS)/atlascar2/test_miguel.bag
 @arg bag_start Playback starting time (in seconds). default: 0.0
 @arg bag_rate  Playback rate. default: 1.0
 -->
@@ -43,7 +43,7 @@
     <arg name="rviz_file" default="$(find atlascar2_calibration)/rviz/collect_data.rviz"/>
     <arg name="description_file" default="$(find atlascar2_calibration)/urdf/initial_estimate.urdf.xacro"/>
     <!-- arguments to be passed onto playbag.launch  -->
-    <arg name="bag_file" default="$(env ROS_BAGS)/atlascar2/gazebo_fixed.bag"/>
+    <arg name="bag_file" default="$(env ROS_BAGS)/atlascar2/test_miguel.bag"/>
     <arg name="bag_start" default="0"/>
     <arg name="bag_rate" default="1"/>
     <arg name="ssl" default="lambda sensor_name: False"/>
diff --git a/atlascar2_calibration/launch/dataset_playback.launch b/atlascar2_calibration/launch/dataset_playback.launch
index 9132e06..e90b590 100644
--- a/atlascar2_calibration/launch/dataset_playback.launch
+++ b/atlascar2_calibration/launch/dataset_playback.launch
@@ -22,7 +22,7 @@
     Sets up image decompressors if needed, reads the urdf robot description.
 
 @arg bag_file  Absolute path to the playing bag.
-    default: $(env ROS_BAGS)/atlascar2/gazebo_fixed.bag
+    default: $(env ROS_BAGS)/atlascar2/test_miguel.bag
 @arg bag_start Playback starting time (in seconds). default: 0.0
 @arg bag_rate  Playback rate. default: 1.0
 @arg use_tfs  Use tfs in the bag file or generate new ones using the urdf, joint state messages and the robot state publisher. default: False
diff --git a/atlascar2_calibration/launch/playbag.launch b/atlascar2_calibration/launch/playbag.launch
index 0270e02..263d25d 100644
--- a/atlascar2_calibration/launch/playbag.launch
+++ b/atlascar2_calibration/launch/playbag.launch
@@ -22,7 +22,7 @@
     Sets up image decompressors if needed, reads the urdf robot description.
 
 @arg bag_file  Absolute path to the playing bag.
-    default: $(env ROS_BAGS)/atlascar2/gazebo_fixed.bag
+    default: $(env ROS_BAGS)/atlascar2/test_miguel.bag
 @arg bag_start Playback starting time (in seconds). default: 0.0
 @arg bag_rate  Playback rate. default: 1.0
 @arg use_tfs  Use tfs in the bag file or generate new ones using the urdf, joint state messages and the robot state publisher. default: False
@@ -30,7 +30,7 @@
 
 <launch>
 
-    <arg name="bag_file" default="$(env ROS_BAGS)/atlascar2/gazebo_fixed.bag"/>
+    <arg name="bag_file" default="$(env ROS_BAGS)/atlascar2/test_miguel.bag"/>
     <arg name="bag_start" default="0"/>
     <arg name="bag_rate" default="1"/>
     <arg name="optimized" default="false"/>
@@ -87,6 +87,15 @@
     <!-- %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -->
 
     
+    <!-- %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -->
+    <!-- Image Topic Decompression -->
+    <node pkg="image_transport" type="republish" name="decompressor_top_left_camera" output="screen"
+          args="compressed in:=/atlascar2/top_left_camera/image_raw raw out:=/atlascar2/top_left_camera/image_raw"/>
+    <node pkg="image_transport" type="republish" name="decompressor_top_right_camera" output="screen"
+          args="compressed in:=/atlascar2/top_right_camera/image_raw raw out:=/atlascar2/top_right_camera/image_raw"/>
+    
+    <!-- %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -->
+    
 
 
     <!-- %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -->
diff --git a/atlascar2_calibration/launch/set_initial_estimate.launch b/atlascar2_calibration/launch/set_initial_estimate.launch
index 18f3ee7..223b222 100644
--- a/atlascar2_calibration/launch/set_initial_estimate.launch
+++ b/atlascar2_calibration/launch/set_initial_estimate.launch
@@ -22,7 +22,7 @@
     Rviz interactive markers are used to set the pose of the sensors.
 
 @arg bag_file  Absolute path to the playing bag.
-    default: $(env ROS_BAGS)/atlascar2/gazebo_fixed.bag
+    default: $(env ROS_BAGS)/atlascar2/test_miguel.bag
 @arg bag_start Playback starting time (in seconds). default: 0.0
 @arg bag_rate  Playback rate. default: 1.0
 @arg marker_size  Size of the markers. default: 0.5
@@ -36,7 +36,7 @@
     <arg name="output_file" default="$(find atlascar2_calibration)/urdf/initial_estimate.urdf.xacro"/>
     <arg name="rviz_file" default="$(find atlascar2_calibration)/rviz/set_initial_estimate.rviz"/>
     <!-- arguments to be passed onto playbag.launch  -->
-    <arg name="bag_file" default="$(env ROS_BAGS)/atlascar2/gazebo_fixed.bag"/>
+    <arg name="bag_file" default="$(env ROS_BAGS)/atlascar2/test_miguel.bag"/>
     <arg name="bag_start" default="0"/>
     <arg name="bag_rate" default="1"/>
     <arg name="marker_size" default="0.5"/>
diff --git a/atlascar2_calibration/rviz/collect_data.rviz b/atlascar2_calibration/rviz/collect_data.rviz
index 0f5ee03..33c48f0 100644
--- a/atlascar2_calibration/rviz/collect_data.rviz
+++ b/atlascar2_calibration/rviz/collect_data.rviz
@@ -1,378 +1,208 @@
 Panels:
-  - Class: rviz/Displays
-    Help Height: 0
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /Global Options1
-        - /RobotModel1
-      Splitter Ratio: 0.763005793094635
-    Tree Height: 176
-  - Class: rviz/Selection
-    Name: Selection
-  - Class: rviz/Tool Properties
+- Class: rviz/Displays
+  Help Height: 0
+  Name: Displays
+  Property Tree Widget:
     Expanded:
-      - /2D Pose Estimate1
-      - /2D Nav Goal1
-      - /Publish Point1
-    Name: Tool Properties
-    Splitter Ratio: 0.5886790156364441
-  - Class: rviz/Views
-    Expanded:
-      - /Current View1
-    Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz/Time
-    Experimental: false
-    Name: Time
-    SyncMode: 0
-    SyncSource: lidar_1-PointCloud2
+    - /Global Options1
+    - /base_camera-Image1
+    Splitter Ratio: 0.763005793094635
+  Tree Height: 523
+- Class: rviz/Selection
+  Name: Selection
+- Class: rviz/Tool Properties
+  Expanded:
+  - /2D Pose Estimate1
+  - /2D Nav Goal1
+  - /Publish Point1
+  Name: Tool Properties
+  Splitter Ratio: 0.5886790156364441
+- Class: rviz/Views
+  Expanded:
+  - /Current View1
+  Name: Views
+  Splitter Ratio: 0.5
+- Class: rviz/Time
+  Experimental: false
+  Name: Time
+  SyncMode: 0
+  SyncSource: ''
 Preferences:
   PromptSaveOnExit: true
 Toolbars:
   toolButtonStyle: 2
 Visualization Manager:
-  Class: ""
+  Class: ''
   Displays:
-    - Alpha: 0.5
-      Cell Size: 1
-      Class: rviz/Grid
-      Color: 160; 160; 164
-      Enabled: true
-      Line Style:
-        Line Width: 0.019999999552965164
-        Value: Lines
-      Name: Grid
-      Normal Cell Count: 0
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Plane: XY
-      Plane Cell Count: 10
-      Reference Frame: atlascar2/base_link
-      Value: true
-    - Class: rviz/TF
-      Enabled: true
-      Frame Timeout: 15
-      Frames:
-        All Enabled: true
-        atlascar2/VLP_lidar:
-          Value: true
-        atlascar2/VLP_lidar_base_link:
-          Value: true
-        atlascar2/base_footprint:
-          Value: true
-        atlascar2/base_link:
-          Value: true
-        atlascar2/front_left_steer_link:
-          Value: true
-        atlascar2/front_left_wheel_link:
-          Value: true
-        atlascar2/front_right_steer_link:
-          Value: true
-        atlascar2/front_right_wheel_link:
-          Value: true
-        atlascar2/front_steer_link:
-          Value: true
-        atlascar2/odom:
-          Value: true
-        atlascar2/rear_left_wheel_link:
-          Value: true
-        atlascar2/rear_right_wheel_link:
-          Value: true
-        atlascar2/rear_wheel_link:
-          Value: true
-        atlascar2/top_collision:
-          Value: true
-        atlascar2/top_left_camera:
-          Value: true
-        atlascar2/top_left_camera_optical:
-          Value: true
-        atlascar2/top_right_camera:
-          Value: true
-        atlascar2/top_right_camera_optical:
-          Value: true
-      Marker Alpha: 1
-      Marker Scale: 1
-      Name: TF
-      Show Arrows: false
-      Show Axes: true
-      Show Names: false
-      Tree:
-        atlascar2/odom:
-          atlascar2/base_footprint:
-            atlascar2/base_link:
-              atlascar2/VLP_lidar_base_link:
-                atlascar2/VLP_lidar:
-                  {}
-              atlascar2/front_left_steer_link:
-                atlascar2/front_left_wheel_link:
-                  {}
-              atlascar2/front_right_steer_link:
-                atlascar2/front_right_wheel_link:
-                  {}
-              atlascar2/front_steer_link:
-                {}
-              atlascar2/rear_left_wheel_link:
-                {}
-              atlascar2/rear_right_wheel_link:
-                {}
-              atlascar2/rear_wheel_link:
-                {}
-              atlascar2/top_collision:
-                {}
-              atlascar2/top_left_camera:
-                atlascar2/top_left_camera_optical:
-                  {}
-              atlascar2/top_right_camera:
-                atlascar2/top_right_camera_optical:
-                  {}
-      Update Interval: 0
-      Value: true
-    - Alpha: 1
-      Class: rviz/RobotModel
-      Collision Enabled: false
-      Enabled: true
-      Links:
-        All Links Enabled: true
-        Expand Joint Details: false
-        Expand Link Details: false
-        Expand Tree: false
-        Link Tree Style: Links in Alphabetic Order
-        VLP_lidar:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        VLP_lidar_base_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        base_footprint:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        base_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        front_left_steer_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        front_left_wheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        front_right_steer_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        front_right_wheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        front_steer_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        rear_left_wheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        rear_right_wheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        rear_wheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        top_collision:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        top_left_camera:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        top_left_camera_optical:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        top_right_camera:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        top_right_camera_optical:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-      Name: RobotModel
-      Robot Description: robot_description
-      TF Prefix: atlascar2
-      Update Interval: 0
-      Value: true
-      Visual Enabled: true
-    - Class: rviz/InteractiveMarkers
-      Enable Transparency: true
-      Enabled: true
-      Name: ManualDataLabeler-InteractiveMarkers
-      Show Axes: true
-      Show Descriptions: true
-      Show Visual Aids: false
-      Update Topic: data_labeler/update
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz/PointCloud2
-      Color: 141; 211; 199
-      Color Transformer: FlatColor
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Min Color: 0; 0; 0
-      Name: lidar_1-PointCloud2
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.019999999552965164
-      Style: Spheres
-      Topic: /lidar_1/velodyne_points
-      Unreliable: false
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - Alpha: 0.05000000074505806
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz/PointCloud2
-      Color: 141; 211; 199
-      Color Transformer: FlatColor
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Min Color: 0; 0; 0
-      Name: lidar_1-Labels-PointCloud2
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.20000000298023224
-      Style: Spheres
-      Topic: /lidar_1/velodyne_points/labeled
-      Unreliable: false
-      Use Fixed Frame: true
-      Use rainbow: true
+  - Alpha: 0.5
+    Cell Size: 1
+    Class: rviz/Grid
+    Color: 160; 160; 164
+    Enabled: true
+    Line Style:
+      Line Width: 0.02
+      Value: Lines
+    Name: Grid
+    Normal Cell Count: 0
+    Offset:
+      X: 0
+      Y: 0
+      Z: 0
+    Plane: XY
+    Plane Cell Count: 10
+    Reference Frame: atlascar2/base_link
+    Value: true
+  - Class: rviz/TF
+    Enabled: true
+    Frame Timeout: 15
+    Frames:
+      All Enabled: true
+    Marker Scale: 1
+    Name: TF
+    Show Arrows: false
+    Show Axes: true
+    Show Names: false
+    Tree: {}
+    Update Interval: 0
+    Value: false
+  - Class: rviz/RobotModel
+    Collision Enabled: false
+    Enabled: true
+    Links: {}
+    Name: RobotModel
+    Robot Description: robot_description
+    TF Prefix: ''
+    Update Interval: 0
+    Value: true
+    Visual Enabled: true
+  - Class: rviz/InteractiveMarkers
+    Enable Transparency: true
+    Enabled: true
+    Name: ManualDataLabeler-InteractiveMarkers
+    Show Axes: true
+    Show Descriptions: true
+    Show Visual Aids: false
+    Update Topic: data_labeler/update
+    Value: true
+  - Alpha: 1
+    Autocompute Intensity Bounds: true
+    Autocompute Value Bounds:
+      Max Value: 10
+      Min Value: -10
       Value: true
-    - Class: rviz/InteractiveMarkers
-      Enable Transparency: true
-      Enabled: true
-      Name: lidar_1-ManualDataLabeler-InteractiveMarkers
-      Show Axes: true
-      Show Descriptions: true
-      Show Visual Aids: false
-      Update Topic: lidar_1/data_labeler/update
+    Axis: Z
+    Channel Name: intensity
+    Class: rviz/PointCloud2
+    Color: 141; 211; 199
+    Color Transformer: FlatColor
+    Decay Time: 0
+    Enabled: true
+    Invert Rainbow: false
+    Max Color: 255; 255; 255
+    Max Intensity: 4096
+    Min Color: 0; 0; 0
+    Min Intensity: 0
+    Name: lidar_1-PointCloud2
+    Position Transformer: ''
+    Queue Size: 10
+    Selectable: true
+    Size (Pixels): 3
+    Size (m): 0.02
+    Style: Spheres
+    Topic: /lidar_1/velodyne_points
+    Unreliable: false
+    Use Fixed Frame: true
+    Use rainbow: true
+    Value: true
+  - Alpha: 0.05
+    Autocompute Intensity Bounds: true
+    Autocompute Value Bounds:
+      Max Value: 10
+      Min Value: -10
       Value: true
-    - Class: rviz/Image
-      Enabled: true
-      Image Topic: /atlascar2/top_left_camera/image_raw/labeled
-      Max Value: 1
-      Median window: 5
-      Min Value: 0
-      Name: top_left_camera-Labels-Image
-      Normalize Range: true
-      Queue Size: 2
-      Transport Hint: raw
-      Unreliable: false
+    Axis: Z
+    Channel Name: intensity
+    Class: rviz/PointCloud2
+    Color: 141; 211; 199
+    Color Transformer: FlatColor
+    Decay Time: 0
+    Enabled: true
+    Invert Rainbow: false
+    Max Color: 255; 255; 255
+    Max Intensity: 4096
+    Min Color: 0; 0; 0
+    Min Intensity: 0
+    Name: lidar_1-Labels-PointCloud2
+    Position Transformer: ''
+    Queue Size: 10
+    Selectable: true
+    Size (Pixels): 3
+    Size (m): 0.2
+    Style: Spheres
+    Topic: /lidar_1/velodyne_points/labeled
+    Unreliable: false
+    Use Fixed Frame: true
+    Use rainbow: true
+    Value: true
+  - Class: rviz/InteractiveMarkers
+    Enable Transparency: true
+    Enabled: true
+    Name: lidar_1-ManualDataLabeler-InteractiveMarkers
+    Show Axes: true
+    Show Descriptions: true
+    Show Visual Aids: false
+    Update Topic: lidar_1/data_labeler/update
+    Value: true
+  - Class: rviz/Image
+    Enabled: true
+    Image Topic: /atlascar2/top_left_camera/image_raw/labeled
+    Max Value: 1
+    Median window: 5
+    Min Value: 0
+    Name: top_left_camera-Labels-Image
+    Normalize Range: true
+    Queue Size: 2
+    Transport Hint: raw
+    Unreliable: false
+    Value: false
+  - Class: rviz/Camera
+    Enabled: true
+    Image Rendering: background and overlay
+    Image Topic: /atlascar2/top_left_camera/image_raw
+    Name: top_left_camera-Camera
+    Overlay Alpha: 0.5
+    Queue Size: 2
+    Transport Hint: raw
+    Unreliable: false
+    Value: false
+    Visibility:
       Value: true
-    - Class: rviz/Camera
-      Enabled: true
-      Image Rendering: background and overlay
-      Image Topic: /atlascar2/top_left_camera/image_raw
-      Name: top_left_camera-Camera
-      Overlay Alpha: 0.5
-      Queue Size: 2
-      Transport Hint: raw
-      Unreliable: false
+    Zoom Factor: 1
+  - Class: rviz/Image
+    Enabled: true
+    Image Topic: /atlascar2/top_right_camera/image_raw/labeled
+    Max Value: 1
+    Median window: 5
+    Min Value: 0
+    Name: top_right_camera-Labels-Image
+    Normalize Range: true
+    Queue Size: 2
+    Transport Hint: raw
+    Unreliable: false
+    Value: false
+  - Class: rviz/Camera
+    Enabled: true
+    Image Rendering: background and overlay
+    Image Topic: /atlascar2/top_right_camera/image_raw
+    Name: top_right_camera-Camera
+    Overlay Alpha: 0.5
+    Queue Size: 2
+    Transport Hint: raw
+    Unreliable: false
+    Value: false
+    Visibility:
       Value: true
-      Visibility:
-        Grid: true
-        ManualDataLabeler-InteractiveMarkers: true
-        RobotModel: true
-        TF: true
-        Value: true
-        lidar_1-Labels-PointCloud2: true
-        lidar_1-ManualDataLabeler-InteractiveMarkers: true
-        lidar_1-PointCloud2: true
-        top_left_camera-Labels-Image: true
-        top_right_camera-Camera: true
-        top_right_camera-Labels-Image: true
-      Zoom Factor: 1
-    - Class: rviz/Image
-      Enabled: true
-      Image Topic: /atlascar2/top_right_camera/image_raw/labeled
-      Max Value: 1
-      Median window: 5
-      Min Value: 0
-      Name: top_right_camera-Labels-Image
-      Normalize Range: true
-      Queue Size: 2
-      Transport Hint: raw
-      Unreliable: false
-      Value: true
-    - Class: rviz/Camera
-      Enabled: true
-      Image Rendering: background and overlay
-      Image Topic: /atlascar2/top_right_camera/image_raw
-      Name: top_right_camera-Camera
-      Overlay Alpha: 0.5
-      Queue Size: 2
-      Transport Hint: raw
-      Unreliable: false
-      Value: true
-      Visibility:
-        Grid: true
-        ManualDataLabeler-InteractiveMarkers: true
-        RobotModel: true
-        TF: true
-        Value: true
-        lidar_1-Labels-PointCloud2: true
-        lidar_1-ManualDataLabeler-InteractiveMarkers: true
-        lidar_1-PointCloud2: true
-        top_left_camera-Camera: true
-        top_left_camera-Labels-Image: true
-        top_right_camera-Labels-Image: true
-      Zoom Factor: 1
+    Zoom Factor: 1
   Enabled: true
   Global Options:
     Background Color: 255; 255; 255
@@ -381,23 +211,23 @@ Visualization Manager:
     Frame Rate: 30
   Name: root
   Tools:
-    - Class: rviz/Interact
-      Hide Inactive Objects: true
-    - Class: rviz/MoveCamera
-    - Class: rviz/Select
-    - Class: rviz/FocusCamera
-    - Class: rviz/Measure
-    - Class: rviz/SetInitialPose
-      Theta std deviation: 0.2617993950843811
-      Topic: /initialpose
-      X std deviation: 0.5
-      Y std deviation: 0.5
-    - Class: rviz/SetGoal
-      Topic: /move_base_simple/goal
-    - Class: rviz/PublishPoint
-      Single click: true
-      Topic: /clicked_point
-    - Class: rviz_visual_tools/KeyTool
+  - Class: rviz/Interact
+    Hide Inactive Objects: true
+  - Class: rviz/MoveCamera
+  - Class: rviz/Select
+  - Class: rviz/FocusCamera
+  - Class: rviz/Measure
+  - Class: rviz/SetInitialPose
+    Theta std deviation: 0.2617993950843811
+    Topic: /initialpose
+    X std deviation: 0.5
+    Y std deviation: 0.5
+  - Class: rviz/SetGoal
+    Topic: /move_base_simple/goal
+  - Class: rviz/PublishPoint
+    Single click: true
+    Topic: /clicked_point
+  - Class: rviz_visual_tools/KeyTool
   Value: true
   Views:
     Current:
@@ -408,7 +238,6 @@ Visualization Manager:
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
-      Field of View: 0.7853981852531433
       Focal Point:
         X: 0.3314114809036255
         Y: 0.6464090347290039
@@ -420,35 +249,36 @@ Visualization Manager:
       Near Clip Distance: 0.009999999776482582
       Pitch: 0.46479693055152893
       Target Frame: <Fixed Frame>
+      Value: XYOrbit (rviz)
       Yaw: 2.752181053161621
     Saved:
-      - Class: rviz/Orbit
-        Distance: 4.057810306549072
-        Enable Stereo Rendering:
-          Stereo Eye Separation: 0.05999999865889549
-          Stereo Focal Distance: 1
-          Swap Stereo Eyes: false
-          Value: false
-        Field of View: 0.7853981852531433
-        Focal Point:
-          X: -0.424695760011673
-          Y: 0.802316427230835
-          Z: 0.9974352121353149
-        Focal Shape Fixed Size: true
-        Focal Shape Size: 0.05000000074505806
-        Invert Z Axis: false
-        Name: Orbit
-        Near Clip Distance: 0.009999999776482582
-        Pitch: 0.5447967052459717
-        Target Frame: <Fixed Frame>
-        Yaw: 3.929020881652832
+    - Class: rviz/Orbit
+      Distance: 4.057810306549072
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.424695760011673
+        Y: 0.802316427230835
+        Z: 0.9974352121353149
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Orbit
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.5447967052459717
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 3.929020881652832
 Window Geometry:
   Displays:
     collapsed: false
   Height: 683
   Hide Left Dock: false
   Hide Right Dock: false
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+  QMainWindow State: 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
   Selection:
     collapsed: false
   Time:
@@ -459,12 +289,6 @@ Window Geometry:
     collapsed: false
   Width: 1366
   X: 0
-  Y: 1080
-  top_left_camera-Camera:
-    collapsed: false
-  top_left_camera-Labels-Image:
-    collapsed: false
-  top_right_camera-Camera:
-    collapsed: false
-  top_right_camera-Labels-Image:
+  Y: 28
+  base_camera-Image:
     collapsed: false