diff --git a/include/graph_slam_node.hpp b/include/graph_slam_node.hpp
index f8fc193..df04a8a 100644
--- a/include/graph_slam_node.hpp
+++ b/include/graph_slam_node.hpp
@@ -316,7 +316,7 @@ void graph_slam_handler::scanCB(const turtlebot_graph_slam::tfArrayConstPtr &sca
                     // add initial estimates composing logic
                     if (i == 0)
                     {
-                        current_pose_ = current_pose_.compose(odometry);
+                        current_pose_ = current_pose_.compose(scan_pose);
                         initial_estimates_.insert(X(index_), current_pose_);
 
                         // add odom factor to the graph
diff --git a/include/scan_match_node.hpp b/include/scan_match_node.hpp
index 1f4ef36..536c2f2 100644
--- a/include/scan_match_node.hpp
+++ b/include/scan_match_node.hpp
@@ -207,8 +207,8 @@ class ScanHandler
             try
             {
                 ros::Time start_time_ = ros::Time::now();
-                // projector_.transformLaserScanToPointCloud("turtlebot/kobuki/base_footprint", *scan, cloud_in, listener_);
-                projector_.projectLaser(*scan,cloud_in);
+                projector_.transformLaserScanToPointCloud("turtlebot/kobuki/base_footprint", *scan, cloud_in, listener_);
+                // projector_.projectLaser(*scan,cloud_in);
 
                 current_scan_odom_ = current_odom_;
                 current_scan_odom_.header.frame_id = std::to_string(current_scan_index);
diff --git a/launch/env.launch b/launch/env.launch
index 2e5b195..0b022a5 100644
--- a/launch/env.launch
+++ b/launch/env.launch
@@ -3,7 +3,7 @@
     <rosparam file="$(find turtlebot_graph_slam)/config/params.yaml" command="load"/>
 
     <!-- StoneFish simulator -->
-    <include file="$(find turtlebot_simulation)/launch/turtlebot_integration.launch" />
+    <!-- <include file="$(find turtlebot_simulation)/launch/turtlebot_integration.launch" /> -->
     
     <!-- Environment node -->
     <node pkg="turtlebot_graph_slam" type="turtlebot_teleop_convert_node.py" name="turtlebot_teleop_convert_node"/> 
diff --git a/pcl_viz/world_map.pcd b/pcl_viz/world_map.pcd
index e2484d5..0720b6e 100644
--- a/pcl_viz/world_map.pcd
+++ b/pcl_viz/world_map.pcd
@@ -4,38456 +4,28074 @@ FIELDS x y z
 SIZE 4 4 4
 TYPE F F F
 COUNT 1 1 1
-WIDTH 38448
+WIDTH 28066
 HEIGHT 1
 VIEWPOINT 0 0 0 1 0 0 0
-POINTS 38448
+POINTS 28066
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diff --git a/rviz/graph_slam.rviz b/rviz/graph_slam.rviz
new file mode 100644
index 0000000..f106b47
--- /dev/null
+++ b/rviz/graph_slam.rviz
@@ -0,0 +1,327 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /PointCloud21
+        - /Graph_SLAM1
+        - /Deadreckoning1
+        - /LIDAR1
+        - /DepthCloud1/Auto Size1
+      Splitter Ratio: 0.5
+    Tree Height: 342
+  - 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
+    Name: Time
+    SyncMode: 0
+    SyncSource: LIDAR
+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: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 0.699999988079071
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic: /projected_map
+      Unreliable: false
+      Use Timestamp: false
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Min Color: 0; 0; 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic: /pc
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz/MarkerArray
+      Enabled: true
+      Marker Topic: /ellipse_markers
+      Name: Ellipse_Cov
+      Namespaces:
+        "": true
+      Queue Size: 100
+      Value: true
+    - Alpha: 1
+      Arrow Length: 0.30000001192092896
+      Axes Length: 0.30000001192092896
+      Axes Radius: 0.009999999776482582
+      Class: rviz/PoseArray
+      Color: 255; 25; 0
+      Enabled: true
+      Head Length: 0.07000000029802322
+      Head Radius: 0.029999999329447746
+      Name: Graph_SLAM
+      Queue Size: 10
+      Shaft Length: 0.23000000417232513
+      Shaft Radius: 0.009999999776482582
+      Shape: Arrow (Flat)
+      Topic: /keyframes
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Arrow Length: 0.30000001192092896
+      Axes Length: 0.30000001192092896
+      Axes Radius: 0.009999999776482582
+      Class: rviz/PoseArray
+      Color: 255; 25; 0
+      Enabled: true
+      Head Length: 0.07000000029802322
+      Head Radius: 0.029999999329447746
+      Name: Deadreckoning
+      Queue Size: 10
+      Shaft Length: 0.23000000417232513
+      Shaft Radius: 0.009999999776482582
+      Shape: Arrow (Flat)
+      Topic: /keyframes_deadReckoning
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Min Color: 0; 0; 0
+      Name: LIDAR
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic: /turtlebot/kobuki/sensors/rplidar
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Angle Tolerance: 0.10000000149011612
+      Class: rviz/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: true
+      Enabled: true
+      Keep: 100
+      Name: Odometry
+      Position Tolerance: 0.10000000149011612
+      Queue Size: 10
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.10000000149011612
+        Color: 255; 25; 0
+        Head Length: 0.30000001192092896
+        Head Radius: 0.10000000149011612
+        Shaft Length: 1
+        Shaft Radius: 0.05000000074505806
+        Value: Arrow
+      Topic: /odom
+      Unreliable: false
+      Value: true
+    - Class: rviz/Camera
+      Enabled: true
+      Image Rendering: background and overlay
+      Image Topic: /turtlebot/kobuki/realsense/color/image_raw
+      Name: Camera
+      Overlay Alpha: 0.5
+      Queue Size: 2
+      Transport Hint: compressed
+      Unreliable: false
+      Value: true
+      Visibility:
+        Deadreckoning: true
+        DepthCloud: true
+        Ellipse_Cov: true
+        Graph_SLAM: true
+        Grid: true
+        LIDAR: true
+        Map: true
+        Odometry: true
+        PointCloud2: true
+        Value: true
+      Zoom Factor: 1
+    - Alpha: 1
+      Auto Size:
+        Auto Size Factor: 1
+        Value: true
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/DepthCloud
+      Color: 255; 255; 255
+      Color Image Topic: ""
+      Color Transformer: RGB8
+      Color Transport Hint: raw
+      Decay Time: 0
+      Depth Map Topic: /turtlebot/kobuki/realsense/depth/image_rect_raw
+      Depth Map Transport Hint: raw
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Min Color: 0; 0; 0
+      Name: DepthCloud
+      Occlusion Compensation:
+        Occlusion Time-Out: 30
+        Value: false
+      Position Transformer: XYZ
+      Queue Size: 5
+      Selectable: true
+      Size (Pixels): 3
+      Style: Flat Squares
+      Topic Filter: true
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+  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: 4.404662132263184
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: true
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.6603983044624329
+      Target Frame: <Fixed Frame>
+      Yaw: 2.80041241645813
+    Saved: ~
+Window Geometry:
+  Camera:
+    collapsed: false
+  Displays:
+    collapsed: false
+  Height: 1016
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001be0000035afc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001e1000000c900fffffffb0000000c00430061006d0065007200610100000224000001730000001600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000035a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d006501000000000000045000000000000000000000045f0000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1848
+  X: 72
+  Y: 27
diff --git a/src/__pycache__/config.cpython-38.pyc b/src/__pycache__/config.cpython-38.pyc
index 5cec1f9..ed370de 100644
Binary files a/src/__pycache__/config.cpython-38.pyc and b/src/__pycache__/config.cpython-38.pyc differ
diff --git a/src/config.py b/src/config.py
index b80eb22..11d9ccc 100644
--- a/src/config.py
+++ b/src/config.py
@@ -1,5 +1,5 @@
 # Params
-MODE              = "SIL"
+MODE              = "HIL"
 FRAME_MAP         = "map"
 FRAME_BASE        = "turtlebot/kobuki/base_footprint"
 FRAME_PREDICTED_BASE = "turtlebot/kobuki/predicted_base_footprint"