diff --git a/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/quad_sensor/bubble_navigation.rviz b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/quad_sensor/bubble_visualization.rviz
similarity index 100%
rename from autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/quad_sensor/bubble_navigation.rviz
rename to autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/quad_sensor/bubble_visualization.rviz
diff --git a/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/quad_sensor/bubble_navigation_2.rviz b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/quad_sensor/bubble_visualization_2.rviz
similarity index 100%
rename from autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/quad_sensor/bubble_navigation_2.rviz
rename to autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/quad_sensor/bubble_visualization_2.rviz
diff --git a/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/single_sensor/bubble_navigation_single.launch b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/single_sensor/bubble_navigation_single.launch
deleted file mode 100755
index f578220..0000000
--- a/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/single_sensor/bubble_navigation_single.launch
+++ /dev/null
@@ -1,34 +0,0 @@
-<launch>
-
-  <!-- 3D sensor -->
-  <arg name="3d_sensor" default="radar"/>  <!-- r200, kinect, asus_xtion_pro -->
-
-  <!-- Add nodes to filter/limit Radar data before using it for navigation -->
-  <include file="$(find turtlebot_mmwave_launchers)/launch/single_sensor/radar_limit_filters.launch">
-  </include>
-
-  <!-- Map server --> 
-  <!-- <node name="octomap_server" pkg="octomap_server" type="octomap_server_node" args="$(find turtlebot_mmwave_launchers)/launch/map_4ft_by_6ft_border_large.bt projected_map:=map" /> -->
-  
-
-  <!-- Fake localization node allows directly setting initial pose and goal -->
-  <node pkg="fake_localization" type="fake_localization" name="fake_localization">
-    <param name="use_map_topic" value="true"/>
-    <remap from="base_pose_ground_truth" to="odom"/>
-  </node>
-
-  <!-- Move base -->
-  <arg name="custom_param_file" default="$(find turtlebot_navigation)/param/single_sensor/$(arg 3d_sensor)_costmap_params.yaml"/>
-  <include file="$(find turtlebot_navigation)/launch/includes/move_base_single_sensor.launch.xml">
-    <arg name="custom_param_file" value="$(arg custom_param_file)"/>
-  </include>
-
-  <!-- Convert voxel_grid to point cloud for visualization and debug -->
-  <node name="voxel_grid_2_point_cloud" pkg="costmap_2d" type="costmap_2d_cloud">
-    <remap from="voxel_grid" to="/move_base/local_costmap/obstacle_layer/voxel_grid"/>
-    <remap from="voxel_marked_cloud" to="/move_base/local_costmap/obstacle_layer/marked_cloud"/>
-    <remap from="voxel_unknown_cloud" to="/move_base/local_costmap/obstacle_layer/unknown_cloud"/>
-  </node>
-
-</launch>
-
diff --git a/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/single_sensor/bubble_visualization.rviz b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/single_sensor/bubble_visualization.rviz
new file mode 100644
index 0000000..1ea41b0
--- /dev/null
+++ b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/single_sensor/bubble_visualization.rviz
@@ -0,0 +1,443 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Grid1/Offset1
+        - /PointCloud21/Autocompute Value Bounds1
+        - /Polygon2
+        - /Polygon3
+      Splitter Ratio: 0.5
+    Tree Height: 548
+  - 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: PointCloud2
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 14
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/Map
+      Color Scheme: costmap
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic: /move_base/global_costmap/costmap
+      Unreliable: false
+      Use Timestamp: false
+      Value: true
+    - Alpha: 0.699999988079071
+      Class: rviz/Map
+      Color Scheme: costmap
+      Draw Behind: false
+      Enabled: false
+      Name: Map
+      Topic: /move_base/local_costmap/costmap
+      Unreliable: false
+      Use Timestamp: false
+      Value: false
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 0.2241746038198471
+        Min Value: 0.2241746038198471
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: AxisColor
+      Decay Time: 0.25
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 40.54766082763672
+      Min Color: 0; 0; 0
+      Min Intensity: 16.81241226196289
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.029999999329447746
+      Style: Spheres
+      Topic: /xyzi_filt_out
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      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
+        base_footprint:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base_radar_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        caster_back_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        caster_front_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        cliff_sensor_front_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        cliff_sensor_left_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        cliff_sensor_right_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        gyro_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        plate_bottom_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        plate_middle_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        plate_top_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_bottom_0_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_bottom_1_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_bottom_2_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_bottom_3_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_bottom_4_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_bottom_5_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_kinect_0_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_kinect_1_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_middle_0_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_middle_1_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_middle_2_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_middle_3_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_top_0_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_top_1_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_top_2_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_top_3_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheel_left_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheel_right_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Alpha: 1
+      Axes Length: 1
+      Axes Radius: 0.10000000149011612
+      Class: rviz/PoseWithCovariance
+      Color: 255; 25; 0
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: true
+        Position:
+          Alpha: 0.30000001192092896
+          Color: 204; 51; 204
+          Scale: 1
+          Value: true
+        Value: true
+      Enabled: true
+      Head Length: 0.30000001192092896
+      Head Radius: 0.10000000149011612
+      Name: PoseWithCovariance
+      Shaft Length: 1
+      Shaft Radius: 0.05000000074505806
+      Shape: Arrow
+      Topic: /initialpose
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 255; 0; 0
+      Enabled: true
+      Head Diameter: 0.30000001192092896
+      Head Length: 0.20000000298023224
+      Length: 0.30000001192092896
+      Line Style: Lines
+      Line Width: 0.029999999329447746
+      Name: Path
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: None
+      Radius: 0.029999999329447746
+      Shaft Diameter: 0.10000000149011612
+      Shaft Length: 0.10000000149011612
+      Topic: /move_base/DWAPlannerROS/local_plan
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Class: rviz/Polygon
+      Color: 25; 255; 0
+      Enabled: true
+      Name: Polygon
+      Topic: /move_base/local_costmap/footprint
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 85; 255; 255
+      Enabled: true
+      Head Diameter: 0.30000001192092896
+      Head Length: 0.20000000298023224
+      Length: 0.30000001192092896
+      Line Style: Lines
+      Line Width: 0.029999999329447746
+      Name: Path
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: None
+      Radius: 0.029999999329447746
+      Shaft Diameter: 0.10000000149011612
+      Shaft Length: 0.10000000149011612
+      Topic: /move_base/DWAPlannerROS/global_plan
+      Unreliable: false
+      Value: true
+    - Alpha: 0.699999988079071
+      Class: rviz/Map
+      Color Scheme: raw
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic: /map
+      Unreliable: false
+      Use Timestamp: false
+      Value: true
+    - Alpha: 1
+      Class: rviz/Polygon
+      Color: 237; 212; 0
+      Enabled: true
+      Name: Polygon
+      Topic: /ti_base/slowzone
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Class: rviz/Polygon
+      Color: 204; 0; 0
+      Enabled: true
+      Name: Polygon
+      Topic: /ti_base/stopzone
+      Unreliable: false
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: map
+    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
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 3.544912338256836
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.9262911677360535
+        Y: 0.5746738314628601
+        Z: -0.013840402476489544
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 1.5697963237762451
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 1.5715916156768799
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 845
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd0000000400000000000001aa000002affc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002af000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000041000002f90000000000000000000000010000010f000002f9fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000041000002f9000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005fd0000003efc0100000002fb0000000800540069006d00650100000000000005fd000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000044d000002af00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1533
+  X: 67
+  Y: 27