diff --git a/config/control_command.yaml b/config/control_command.yaml
index 4d3e7c6..a2ec35c 100644
--- a/config/control_command.yaml
+++ b/config/control_command.yaml
@@ -39,14 +39,14 @@ register_keys:
   # dtof sensor frame rate. Supported values: 100 (10fps) or 145 (14.5fps)
   # Higher frame rate provides smoother point cloud data but may increase data bandwidth
   # Note: value is multiplied by 10 (e.g., 145 means 14.5fps)
-  dtof_fps: 100           # 100: 10fps; 145: 14.5fps
+  dtof_fps: 145           # 100: 10fps; 145: 14.5fps
 
   # slam cloud data
   sendcloudslam: 1        # 0: off; 1: on
 
   # processed with raw point cloud, rgb image, and calib.yaml from device
   # Processed on host device
-  sendcloudrender: 1      # 0: off; 1: on
+  sendcloudrender: 0      # 0: off; 1: on
 
   # depth completion demo, high computing resource usage. 
   # for more information please refer to the readme file.
@@ -73,7 +73,7 @@ register_keys:
   showpath: 0             # 0: off; 1: on
   showcamerapose: 0       # 0: off; 1: on
   
-  custom_map_mode: 0      # 0: Odometry mode 1: SLAM mode 2: Relocalization mode
+  custom_map_mode: 1      # 0: Odometry mode 1: SLAM mode 2: Relocalization mode
   custom_init_pos: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]
   relocalization_map_abs_path: "" # must be set for Relocalization mode or will fail
 
diff --git a/config/odin_ros2.rviz b/config/odin_ros2.rviz
index 48d42c3..2a8eb7a 100644
--- a/config/odin_ros2.rviz
+++ b/config/odin_ros2.rviz
@@ -385,7 +385,7 @@ Visualization Manager:
           Use Fixed Frame: true
           Use rainbow: true
           Value: false
-      Enabled: false
+      Enabled: true
       Name: dense_depth_demo
     - Class: rviz_default_plugins/TF
       Enabled: true
@@ -460,9 +460,9 @@ Visualization Manager:
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 0.2568470537662506
-        Y: 2.1451337337493896
-        Z: 0.3774382472038269
+        X: 0.28456413745880127
+        Y: 1.8771981000900269
+        Z: 0.38664406538009644
       Focal Shape Fixed Size: false
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
@@ -483,16 +483,16 @@ Window Geometry:
     collapsed: false
   Image_undistort:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000001d40000039efc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000028e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002d10000010a0000002800fffffffb0000002200640065006e00730065005f00640065007000740068005f0069006d006100670065000000023e0000007a0000002800fffffffb0000001e0049006d006100670065005f0075006e0064006900730074006f00720074000000028f0000014c0000002800fffffffb0000002a0063006c006f007500640073006c0061006d005f0072006500700072006f006a006500630074006500640000000310000000cb0000002800ffffff000000010000010f0000039efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000039e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004910000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001d40000039efc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000028e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002d10000010a0000002800fffffffb0000002200640065006e00730065005f00640065007000740068005f0069006d0061006700650300000293000000dd000002d400000205fb0000001e0049006d006100670065005f0075006e0064006900730074006f00720074000000028f0000014c0000002800fffffffb0000002a0063006c006f007500640073006c0061006d005f0072006500700072006f006a006500630074006500640000000310000000cb0000002800ffffff000000010000010f0000039efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000039e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000044b0000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Tool Properties:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1920
-  X: 540
-  Y: 124
+  Width: 1850
+  X: 70
+  Y: 27
   cloudslam_reprojected:
     collapsed: false
   dense_depth_image:
diff --git a/launch_ROS2/odin1_ros2.launch.py b/launch_ROS2/odin1_ros2.launch.py
index af0f4cd..060859c 100644
--- a/launch_ROS2/odin1_ros2.launch.py
+++ b/launch_ROS2/odin1_ros2.launch.py
@@ -81,6 +81,6 @@ def generate_launch_description():
     ld.add_action(host_sdk_node)
     ld.add_action(pcd2depth_node)
     ld.add_action(cloud_reprojection_node)
-    ld.add_action(rviz_node)  # Add RViz node
+    # ld.add_action(rviz_node)  # Add RViz node
     
     return ld