diff --git a/carma/rviz/carma_default_ros2.rviz b/carma/rviz/carma_default_ros2.rviz
index c391805a2b..a48ba2539d 100644
--- a/carma/rviz/carma_default_ros2.rviz
+++ b/carma/rviz/carma_default_ros2.rviz
@@ -1,6 +1,6 @@
 Panels:
   - Class: rviz_common/Displays
-    Help Height: 78
+    Help Height: 138
     Name: Displays
     Property Tree Widget:
       Expanded:
@@ -8,23 +8,31 @@ Panels:
         - /Status1
         - /LaneLet2 Map1/Topic1
         - /LaneLet2 Map1/Namespaces1
-        - /TF1
         - /Trajectory Visualizer1/Topic1
+        - /Points Map1
         - /Points Map1/Topic1
         - /TCM Visualizer1/Topic1
+        - /Route Marker1
         - /Route Marker1/Topic1
-        - /Route Marker Array1/Topic1
         - /Host MobilityPath Marker1/Topic1
         - /Host MobilityPath Marker1/Namespaces1
-        - /GNSS Pose1
         - /GNSS Pose1/Topic1
+        - /Pose1
+        - /Vehicle Model1
+        - /Vehicle Model1/Description Topic1
+        - /Vehicle Model1/Links1
       Splitter Ratio: 0.5
-    Tree Height: 820
+    Tree Height: 1216
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
     Expanded:
+      - /Interact1
+      - /Measure1
+      - /2D Pose Estimate1
+      - /2D Pose Estimate1/Topic1
       - /2D Goal Pose1
+      - /2D Goal Pose1/Topic1
       - /Publish Point1
     Name: Tool Properties
     Splitter Ratio: 0.5886790156364441
@@ -42,7 +50,7 @@ Visualization Manager:
       Cell Size: 1
       Class: rviz_default_plugins/Grid
       Color: 160; 160; 164
-      Enabled: true
+      Enabled: false
       Line Style:
         Line Width: 0.029999999329447746
         Value: Lines
@@ -55,14 +63,18 @@ Visualization Manager:
       Plane: XY
       Plane Cell Count: 10
       Reference Frame: <Fixed Frame>
-      Value: true
+      Value: false
     - Class: rviz_default_plugins/MarkerArray
       Enabled: true
       Name: LaneLet2 Map
       Namespaces:
-        {}
+        center_lane_line: true
+        lanelet direction: true
+        left_lane_bound: true
+        right_lane_bound: true
+        road_lanelets: true
       Topic:
-        Depth: 5
+        Depth: 1
         Durability Policy: Transient Local
         History Policy: Keep Last
         Reliability Policy: Reliable
@@ -72,57 +84,19 @@ Visualization Manager:
       Enabled: true
       Frame Timeout: 15
       Frames:
-        207:
-          Value: true
-        221:
-          Value: true
-        222:
-          Value: true
-        223:
-          Value: true
-        224:
-          Value: true
         All Enabled: true
-        base_link:
-          Value: true
-        camera:
-          Value: true
-        carma_1:
-          Value: true
-        carma_1/camera/rgb/front:
-          Value: true
-        carma_1/gnss/gnss1:
-          Value: true
-        carma_1/gnss/novatel_gnss:
-          Value: true
-        carma_1/imu/novatel_imu:
-          Value: true
-        carma_1/lidar/lidar:
-          Value: true
-        carma_1/radar/radar_fc:
-          Value: true
-        carma_1/radar/radar_fl:
-          Value: true
-        carma_1/radar/radar_fr:
-          Value: true
-        carma_1/radar/radar_rl:
+        base_footprint:
           Value: true
-        carma_1/radar/radar_rr:
-          Value: true
-        carma_1/semantic_lidar/front:
+        base_link:
           Value: true
         gps:
           Value: true
         host_vehicle:
           Value: true
-        lidar/front:
-          Value: true
         map:
           Value: true
         mobileye:
           Value: true
-        mobility:
-          Value: true
         ned_heading:
           Value: true
         novatel_imu:
@@ -137,13 +111,21 @@ Visualization Manager:
           Value: true
         radar_rr:
           Value: true
-        semantic_lidar/front:
+        steer_fl:
+          Value: true
+        steer_fr:
           Value: true
         vehicle_front:
           Value: true
         velodyne:
           Value: true
-        world:
+        wheel_fl:
+          Value: true
+        wheel_fr:
+          Value: true
+        wheel_rl:
+          Value: true
+        wheel_rr:
           Value: true
       Marker Scale: 5
       Name: TF
@@ -152,76 +134,47 @@ Visualization Manager:
       Show Names: true
       Tree:
         map:
-          207:
-            carma_1:
-              base_link:
-                gps:
-                  ned_heading:
-                    {}
-                host_vehicle:
-                  {}
-                mobileye:
-                  {}
-                novatel_imu:
-                  {}
-                radar_fc:
-                  {}
-                radar_fl:
-                  {}
-                radar_fr:
-                  {}
-                radar_rl:
-                  {}
-                radar_rr:
-                  {}
-                vehicle_front:
-                  {}
-                velodyne:
-                  {}
-          221:
-            {}
-          222:
-            {}
-          223:
-            {}
-          224:
-            {}
-          carma_1/camera/rgb/front:
-            camera:
+          base_link:
+            gps:
+              ned_heading:
+                {}
+            host_vehicle:
+              {}
+            mobileye:
+              {}
+            novatel_imu:
+              {}
+            radar_fc:
+              {}
+            radar_fl:
+              {}
+            radar_fr:
+              {}
+            radar_rl:
+              {}
+            radar_rr:
+              {}
+            steer_fl:
+              wheel_fl:
+                {}
+            steer_fr:
+              wheel_fr:
+                {}
+            vehicle_front:
+              {}
+            velodyne:
+              {}
+            wheel_rl:
+              {}
+            wheel_rr:
               {}
-          carma_1/gnss/novatel_gnss:
-            {}
-          carma_1/imu/novatel_imu:
-            {}
-          carma_1/lidar/lidar:
-            {}
-          carma_1/radar/radar_fc:
-            {}
-          carma_1/radar/radar_fl:
-            {}
-          carma_1/radar/radar_fr:
-            {}
-          carma_1/radar/radar_rl:
-            {}
-          carma_1/radar/radar_rr:
-            {}
-          carma_1/semantic_lidar/front:
-            {}
-          lidar/front:
-            {}
-          mobility:
-            {}
-          semantic_lidar/front:
-            {}
-        world:
-          {}
       Update Interval: 0
       Value: true
     - Class: rviz_default_plugins/MarkerArray
       Enabled: true
       Name: Trajectory Visualizer
       Namespaces:
-        {}
+        trajectory_visualizer: true
       Topic:
         Depth: 10
         Durability Policy: Volatile
@@ -237,11 +190,11 @@ Visualization Manager:
         Color: 119; 11; 32
       Class: autoware_rviz_plugins/DetectedObjects
       Display 3d polygon: true
-      Enabled: true
+      Enabled: false
       MOTORCYCLE:
         Alpha: 0.699999988079071
         Color: 0; 0; 230
-      Name: DetectedObjects
+      Name: LiDaR Detected Objects
       Namespaces:
         {}
       PEDESTRIAN:
@@ -262,7 +215,7 @@ Visualization Manager:
       UNKNOWN:
         Alpha: 0.699999988079071
         Color: 255; 255; 255
-      Value: true
+      Value: false
     - Class: rviz_default_plugins/MarkerArray
       Enabled: true
       Name: External Objects Viz
@@ -279,7 +232,7 @@ Visualization Manager:
       Enabled: true
       Name: Fused External Objects Viz
       Namespaces:
-        external_objects: true
+        {}
       Topic:
         Depth: 5
         Durability Policy: Volatile
@@ -287,8 +240,8 @@ Visualization Manager:
         Reliability Policy: Reliable
         Value: /environment/fused_external_objects_viz
       Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
+    - Alpha: 0.05000000074505806
+      Autocompute Intensity Bounds: false
       Autocompute Value Bounds:
         Max Value: 10
         Min Value: -10
@@ -302,17 +255,17 @@ Visualization Manager:
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 4096
+      Max Intensity: 128
       Min Color: 0; 0; 0
       Min Intensity: 0
       Name: Points Map
       Position Transformer: XYZ
-      Selectable: true
-      Size (Pixels): 3
+      Selectable: false
+      Size (Pixels): 1
       Size (m): 0.009999999776482582
-      Style: Flat Squares
+      Style: Points
       Topic:
-        Depth: 5
+        Depth: 1
         Durability Policy: Transient Local
         History Policy: Keep Last
         Reliability Policy: Reliable
@@ -352,7 +305,7 @@ Visualization Manager:
         Reliability Policy: Reliable
         Value: /environment/tcm_visualizer
       Value: true
-    - Alpha: 1
+    - Alpha: 0.6000000238418579
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
         Max Value: 10
@@ -362,20 +315,20 @@ Visualization Manager:
       Channel Name: intensity
       Class: rviz_default_plugins/PointCloud2
       Color: 255; 255; 255
-      Color Transformer: ""
+      Color Transformer: Intensity
       Decay Time: 0
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 4096
+      Max Intensity: 248
       Min Color: 0; 0; 0
       Min Intensity: 0
       Name: LiDaR Points Raw
-      Position Transformer: ""
+      Position Transformer: XYZ
       Selectable: true
       Size (Pixels): 3
       Size (m): 0.009999999776482582
-      Style: Flat Squares
+      Style: Points
       Topic:
         Depth: 5
         Durability Policy: Volatile
@@ -392,23 +345,11 @@ Visualization Manager:
         {}
       Topic:
         Depth: 10
-        Durability Policy: Transient Local
-        History Policy: Keep Last
+        Durability Policy: System Default
+        History Policy: Keep All
         Reliability Policy: Reliable
         Value: /guidance/route_marker
       Value: true
-    - Class: rviz_default_plugins/MarkerArray
-      Enabled: true
-      Name: Route Marker Array
-      Namespaces:
-        {}
-      Topic:
-        Depth: 5
-        Durability Policy: Transient Local
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /guidance/route_marker_array
-      Value: true
     - Class: rviz_default_plugins/MarkerArray
       Enabled: true
       Name: MobilityPath Collision Warning
@@ -464,6 +405,48 @@ Visualization Manager:
         Reliability Policy: Reliable
         Value: /localization/gnss_pose
       Value: true
+    - Alpha: 1
+      Axes Length: 1
+      Axes Radius: 0.10000000149011612
+      Class: rviz_default_plugins/Pose
+      Color: 255; 25; 0
+      Enabled: true
+      Head Length: 0.30000001192092896
+      Head Radius: 0.10000000149011612
+      Name: Pose
+      Shaft Length: 1
+      Shaft Radius: 0.05000000074505806
+      Shape: Arrow
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /localization/selected_pose
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: /opt/carma/vehicle/calibration/urdf/carma.urdf
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description_
+      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
+      Name: Vehicle Model
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -484,14 +467,14 @@ Visualization Manager:
         Durability Policy: Volatile
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /initialpose
+        Value: /localization/initialpose
     - Class: rviz_default_plugins/SetGoal
       Topic:
         Depth: 5
         Durability Policy: Volatile
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /goal_pose
+        Value: /move_base_simple/goal
     - Class: rviz_default_plugins/PublishPoint
       Single click: true
       Topic:
@@ -506,7 +489,7 @@ Visualization Manager:
   Value: true
   Views:
     Current:
-      Angle: -0.014999913983047009
+      Angle: -6
       Class: rviz_default_plugins/TopDownOrtho
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
@@ -516,19 +499,19 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Scale: 35.905399322509766
+      Scale: 26.373899459838867
       Target Frame: base_link
       Value: TopDownOrtho (rviz_default_plugins)
-      X: -0.3020181953907013
-      Y: 1.0818302631378174
+      X: 7.82105827331543
+      Y: 2.148747682571411
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1043
+  Height: 1600
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000001ae000003bdfc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000003bd000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000272000000c10000000000000000fb0000001c005400720061006e00730066006f0072006d006100740069006f006e0000000337000000c10000007900ffffff000000010000019d000003bdfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000003bd000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000429000003bd00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000002c0000005aefc020000000afb0000001200530065006c0065006300740069006f006e0200000098000000e9000002c0000000adfb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df000003e1000002d8fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000069000005ae0000017800fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000272000000c10000000000000000fb0000001c005400720061006e00730066006f0072006d006100740069006f006e0000000337000000c1000000e200ffffff000000010000019d000005aefc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000069000005ae0000012300fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000006f3000005ae00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Tool Properties:
@@ -537,6 +520,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1920
-  X: 1920
-  Y: 0
+  Width: 2920
+  X: 152
+  Y: 54