diff --git a/mbot_gazebo/config/mbot_gazebo.rviz b/mbot_gazebo/config/mbot_gazebo.rviz
index bda2df3..21f6fcb 100644
--- a/mbot_gazebo/config/mbot_gazebo.rviz
+++ b/mbot_gazebo/config/mbot_gazebo.rviz
@@ -6,9 +6,9 @@ Panels:
       Expanded:
         - /Global Options1
         - /Status1
-        - /PointCloud21
+        - /LaserScan1
       Splitter Ratio: 0.5
-    Tree Height: 446
+    Tree Height: 261
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -26,7 +26,7 @@ Panels:
   - Class: rviz/Time
     Name: Time
     SyncMode: 0
-    SyncSource: LaserScan
+    SyncSource: PointCloud2
 Preferences:
   PromptSaveOnExit: true
 Toolbars:
@@ -140,7 +140,7 @@ Visualization Manager:
       Update Interval: 0
       Value: false
     - Class: rviz/Image
-      Enabled: false
+      Enabled: true
       Image Topic: /camera/image_raw
       Max Value: 1
       Median window: 5
@@ -150,7 +150,7 @@ Visualization Manager:
       Queue Size: 2
       Transport Hint: raw
       Unreliable: false
-      Value: false
+      Value: true
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
@@ -191,7 +191,7 @@ Visualization Manager:
       Color: 255; 255; 255
       Color Transformer: Intensity
       Decay Time: 0
-      Enabled: false
+      Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
       Min Color: 0; 0; 0
@@ -200,13 +200,13 @@ Visualization Manager:
       Queue Size: 10
       Selectable: true
       Size (Pixels): 3
-      Size (m): 0.009999999776482582
+      Size (m): 0.05000000074505806
       Style: Flat Squares
       Topic: /scan
       Unreliable: false
       Use Fixed Frame: true
       Use rainbow: true
-      Value: false
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -235,7 +235,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 7.793548107147217
+      Distance: 10.454781532287598
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -251,9 +251,9 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.4747962951660156
+      Pitch: 0.38479602336883545
       Target Frame: <Fixed Frame>
-      Yaw: 5.608582973480225
+      Yaw: 5.12358283996582
     Saved: ~
 Window Geometry:
   Displays:
@@ -263,7 +263,7 @@ Window Geometry:
   Hide Right Dock: false
   Image:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000015600000247fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b00000247000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006500000001cf000000b30000001600ffffff000000010000010f00000247fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b00000247000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005000000003efc0100000002fb0000000800540069006d00650100000000000005000000030700fffffffb0000000800540069006d006501000000000000045000000000000000000000028f0000024700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000015600000247fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000018e000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000001cf000000b30000001600ffffff000000010000010f00000247fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b00000247000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005000000003efc0100000002fb0000000800540069006d00650100000000000005000000030700fffffffb0000000800540069006d006501000000000000045000000000000000000000028f0000024700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
diff --git a/mbot_gazebo/scripts/mbot_teleop.py b/mbot_gazebo/scripts/mbot_teleop.py
index e3bc924..677ce73 100644
--- a/mbot_gazebo/scripts/mbot_teleop.py
+++ b/mbot_gazebo/scripts/mbot_teleop.py
@@ -73,7 +73,6 @@ def main():
   try:
     print(g_msg)
     print("currently:\tspeed %s\tturn %s " % (speed,turn))
-    rate = rospy.Rate(20)
     while(1):
       key = getKey(settings)
       
@@ -138,7 +137,6 @@ def main():
       twist.angular.z = control_turn
       pub.publish(twist)
 
-      rate.sleep()
   except:
     print(e)
   finally: