diff --git a/lidar_situational_graphs/rviz/s_graphs_ros2.rviz b/lidar_situational_graphs/rviz/s_graphs_ros2.rviz
index 5ac21730..3b6cc565 100644
--- a/lidar_situational_graphs/rviz/s_graphs_ros2.rviz
+++ b/lidar_situational_graphs/rviz/s_graphs_ros2.rviz
@@ -5,13 +5,11 @@ Panels:
     Property Tree Widget:
       Expanded:
         - /TF1/Frames1
-        - /PointCloud21
-        - /PointCloud22
-        - /PointCloud23
         - /Pose1/Topic1
+        - /MarkerArray1
         - /MarkerArray1/Namespaces1
       Splitter Ratio: 0.5
-    Tree Height: 787
+    Tree Height: 1654
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -45,21 +43,21 @@ Visualization Manager:
     - Alpha: 0.10000000149011612
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
+        Max Value: 2.538416862487793
+        Min Value: -1.9978913068771362
         Value: true
       Axis: Z
       Channel Name: z
       Class: rviz_default_plugins/PointCloud2
-      Color: 136; 138; 133
-      Color Transformer: FlatColor
-      Decay Time: 1
+      Color: 154; 153; 150
+      Color Transformer: RGB8
+      Decay Time: 2
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 1.8737382888793945
+      Max Intensity: 1.7632713317871094
       Min Color: 0; 0; 0
-      Min Intensity: -4.129120826721191
+      Min Intensity: -4.215526103973389
       Name: PointCloud2
       Position Transformer: XYZ
       Selectable: true
@@ -76,29 +74,29 @@ Visualization Manager:
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
-    - Alpha: 0.20000000298023224
+    - Alpha: 0.05000000074505806
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
         Max Value: 3.5636231899261475
         Min Value: -42.48237609863281
         Value: true
       Axis: Z
-      Channel Name: y
+      Channel Name: z
       Class: rviz_default_plugins/PointCloud2
-      Color: 186; 189; 182
-      Color Transformer: FlatColor
+      Color: 154; 153; 150
+      Color Transformer: RGB8
       Decay Time: 0
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 49.78533172607422
+      Max Intensity: 7.7643280029296875
       Min Color: 0; 0; 0
-      Min Intensity: -86.71466827392578
+      Min Intensity: -8.227238655090332
       Name: PointCloud2
       Position Transformer: XYZ
       Selectable: true
       Size (Pixels): 1
-      Size (m): 0.05000000074505806
+      Size (m): 0.10000000149011612
       Style: Flat Squares
       Topic:
         Depth: 5
@@ -108,9 +106,9 @@ Visualization Manager:
         Reliability Policy: Reliable
         Value: /s_graphs/map_points
       Use Fixed Frame: true
-      Use rainbow: true
+      Use rainbow: false
       Value: true
-    - Alpha: 0.20000000298023224
+    - Alpha: 0.30000001192092896
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
         Max Value: 10
@@ -119,10 +117,10 @@ Visualization Manager:
       Axis: Z
       Channel Name: intensity
       Class: rviz_default_plugins/PointCloud2
-      Color: 255; 255; 255
+      Color: 246; 245; 244
       Color Transformer: RGB8
       Decay Time: 0
-      Enabled: true
+      Enabled: false
       Invert Rainbow: false
       Max Color: 255; 255; 255
       Max Intensity: 4096
@@ -132,7 +130,7 @@ Visualization Manager:
       Position Transformer: XYZ
       Selectable: true
       Size (Pixels): 3
-      Size (m): 0.05000000074505806
+      Size (m): 0.10000000149011612
       Style: Flat Squares
       Topic:
         Depth: 5
@@ -143,7 +141,7 @@ Visualization Manager:
         Value: /s_graphs/wall_points
       Use Fixed Frame: true
       Use rainbow: true
-      Value: true
+      Value: false
     - Alpha: 1
       Axes Length: 1
       Axes Radius: 0.10000000149011612
@@ -171,8 +169,13 @@ Visualization Manager:
         floor_0_keyframe_edges: true
         floor_0_keyframe_plane_edges: true
         floor_0_keyframes: true
+        floor_1_keyframe_edges: true
+        floor_1_keyframe_plane_edges: false
+        floor_1_keyframes: true
         floor_lines: true
         floors: true
+        rooms: true
+        rooms_line: true
       Topic:
         Depth: 5
         Durability Policy: Volatile
@@ -238,33 +241,33 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 100.77177429199219
+      Distance: 173.32481384277344
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: -16.985248565673828
-        Y: -22.46158218383789
-        Z: -30.08563804626465
-      Focal Shape Fixed Size: false
+        X: -7.671485900878906
+        Y: -4.712150573730469
+        Z: 16.613813400268555
+      Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 1.009796380996704
+      Pitch: 0.7347943782806396
       Target Frame: ""
       Value: Orbit (rviz_default_plugins)
-      Yaw: 0.5003964900970459
+      Yaw: 0.6724039316177368
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: true
-  Height: 1016
+  Height: 1883
   Hide Left Dock: true
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd0000000400000000000002c80000039efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003d0000039e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000701fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000701000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004380000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000002c800000701fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003d00000701000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000701fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000701000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004380000070100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Tool Properties:
@@ -272,5 +275,5 @@ Window Geometry:
   Views:
     collapsed: true
   Width: 1080
-  X: 840
-  Y: 27
+  X: 3840
+  Y: 0