diff --git a/orange_description/rviz2/slam_toolbox.rviz b/orange_description/rviz2/slam_toolbox.rviz
index 697d079..16f6493 100644
--- a/orange_description/rviz2/slam_toolbox.rviz
+++ b/orange_description/rviz2/slam_toolbox.rviz
@@ -331,7 +331,7 @@ Visualization Manager:
         Alpha: 1
         Axes Length: 1
         Axes Radius: 0.10000000149011612
-        Color: 255; 25; 0
+        Color: 255; 255; 0
         Head Length: 0.30000001192092896
         Head Radius: 0.10000000149011612
         Shaft Length: 1
@@ -345,6 +345,84 @@ Visualization Manager:
         Reliability Policy: Reliable
         Value: /odom
       Value: false
+    - Angle Tolerance: 0.10000000149011612
+      Class: rviz_default_plugins/Odometry
+      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: false
+      Enabled: false
+      Keep: 1
+      Name: odom_fast
+      Position Tolerance: 0.10000000149011612
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.10000000149011612
+        Color: 0; 255; 0
+        Head Length: 0.30000001192092896
+        Head Radius: 0.10000000149011612
+        Shaft Length: 1
+        Shaft Radius: 0.05000000074505806
+        Value: Arrow
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /odom_fast
+      Value: false
+    - Angle Tolerance: 0.10000000149011612
+      Class: rviz_default_plugins/Odometry
+      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: false
+      Enabled: false
+      Keep: 1
+      Name: odom_CLAS_movingbase
+      Position Tolerance: 0.10000000149011612
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.10000000149011612
+        Color: 0; 0; 255
+        Head Length: 0.30000001192092896
+        Head Radius: 0.10000000149011612
+        Shaft Length: 1
+        Shaft Radius: 0.05000000074505806
+        Value: Arrow
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /odom_CLAS_movingbase
+      Value: false
     - Angle Tolerance: 0.10000000149011612
       Class: rviz_default_plugins/Odometry
       Covariance:
@@ -370,7 +448,7 @@ Visualization Manager:
         Alpha: 1
         Axes Length: 1
         Axes Radius: 0.10000000149011612
-        Color: 255; 255; 0
+        Color: 255; 25; 0
         Head Length: 0.30000001192092896
         Head Radius: 0.10000000149011612
         Shaft Length: 1