The Rviz visualization was one of the most involved parts of this project. For debugging purposes, the Rviz application was used with the real-world Neato and the Gazebo simulator in order to figure out a variety of issues with the algorithms and tunings. The Rviz managed to show some problematic angle wraps, flipped coordinate indices, incorrect map bounds, and many more. We displayed a lot of different publishers in Rviz. The image below shows the main points of the visualization.