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+1648045223,981919883,-0.21011773876488343,0.06767697843293612,0.16541577705643457,0.06296595936416903,0.24064336888549204,-0.043571105799885664
+1648045223,984358283,-0.21026180945512615,0.06763237355443784,0.16571580620684354,0.08909194678220451,0.23505525979513767,-0.04369471172378334
+1648045223,986838255,-0.2105709646899799,0.06788241447655156,0.16661092982365472,0.11516389929472608,0.23138321815222188,-0.044618970155616666
+1648045223,989337258,-0.2107374582453782,0.06851989571461015,0.16480800154652714,0.14184251827066155,0.22210876930023415,-0.04712020480499784
+1648045223,991855698,-0.210668337764591,0.0695528265691559,0.1606264128275563,0.17384363337589984,0.20954682636221733,-0.05022968092496748
+1648045223,994345324,-0.21050167191477726,0.06980987349840201,0.1600211811379482,0.19943427109456666,0.2085225418691213,-0.05240733748568475
+1648045223,996857829,-0.21022031171897304,0.06937530062529455,0.16475852848463182,0.2120500354827838,0.2244196480910322,-0.05418666083403974
+1648045223,999359586,-0.2094716412048944,0.0684078446573462,0.16864125880075564,0.2219074078860885,0.23665218295825557,-0.05219196103993525
diff --git a/assets/twist_measurements/current_robot_twist_short.csv.REMOVED.git-id b/assets/twist_measurements/current_robot_twist_short.csv.REMOVED.git-id
deleted file mode 100644
index 29006ee1..00000000
--- a/assets/twist_measurements/current_robot_twist_short.csv.REMOVED.git-id
+++ /dev/null
@@ -1 +0,0 @@
-dbdc2a66fb356184987b0fec3b928dd5be390e6b
\ No newline at end of file
diff --git a/wild_visual_navigation_ros/config/elevation_mapping_cupy/anymal_parameters.yaml b/wild_visual_navigation_ros/config/elevation_mapping_cupy/anymal_parameters.yaml
index 1df66a8f..b275acf0 100644
--- a/wild_visual_navigation_ros/config/elevation_mapping_cupy/anymal_parameters.yaml
+++ b/wild_visual_navigation_ros/config/elevation_mapping_cupy/anymal_parameters.yaml
@@ -1,6 +1,6 @@
 #### Basic parameters ########
-resolution: 0.1                              # resolution in m.
-map_length: 25                                  # map's size in m.
+resolution: 0.04                              # resolution in m.
+map_length: 8                           # map's size in m.
 sensor_noise_factor: 0.05                       # point's noise is sensor_noise_factor*z^2 (z is distance from sensor).
 mahalanobis_thresh: 2.0                         # points outside this distance is outlier.
 outlier_variance: 0.01                          # if point is outlier, add this value to the cell.
@@ -19,7 +19,7 @@ orientation_noise_thresh: 0.01                  # if the orientation change is b
 position_lowpass_alpha: 0.2                     # lowpass filter alpha used for detecting movements.
 orientation_lowpass_alpha: 0.2                  # lowpass filter alpha used for detecting movements.
 min_valid_distance: 0.5                         # points with shorter distance will be filtered out.
-max_height_range: 2.0                           # points higher than this value from sensor will be filtered out to disable ceiling.
+max_height_range: 1.0                           # points higher than this value from sensor will be filtered out to disable ceiling.
 ramped_height_range_a: 0.3                      # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject.
 ramped_height_range_b: 1.0                      # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject.
 ramped_height_range_c: 0.2                      # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject.
@@ -40,9 +40,9 @@ max_unsafe_n: 10                                # if the number of cells under s
 overlap_clear_range_xy: 4.0                     # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting)
 overlap_clear_range_z: 2.0                      # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting)
 
-map_frame: 'map'                               # The map frame where the odometry source uses.
+map_frame: 'odom'                               # The map frame where the odometry source uses.
 base_frame: 'base'                              # The robot's base frame. This frame will be a center of the map.
-corrected_map_frame: 'map_new_corrected'
+corrected_map_frame: 'odom_corrected'
 
 #### Feature toggles ########
 enable_edge_sharpen: true
@@ -75,7 +75,7 @@ publishers:
     fps: 5.0
 
   semantic_map_raw:
-    layers: ['elevation', 'traversability', 'visual_traversability', 'elevation_with_semantic', 'visual_traversability_filtered', 'rgb_image']
+    layers: ['elevation', 'traversability', 'visual_traversability', 'elevation_with_semantic']
     basic_layers: ['elevation', 'traversability']
     fps: 5.0
   # elevation_map_recordable:
diff --git a/wild_visual_navigation_ros/config/elevation_mapping_cupy/anymal_plugin_config.yaml b/wild_visual_navigation_ros/config/elevation_mapping_cupy/anymal_plugin_config.yaml
index ed2313e5..20ef3f98 100644
--- a/wild_visual_navigation_ros/config/elevation_mapping_cupy/anymal_plugin_config.yaml
+++ b/wild_visual_navigation_ros/config/elevation_mapping_cupy/anymal_plugin_config.yaml
@@ -22,7 +22,7 @@ smooth_filter:
 # Apply inpainting using opencv
 inpainting:
   enable: True
-  fill_nan: True
+  fill_nan: False
   is_height_layer: True
   layer_name: "inpaint"
   extra_params:
@@ -35,26 +35,4 @@ elevation_semantic:
   is_height_layer: True
   layer_name: "elevation_with_semantic"
   extra_params:
-    method: "telea"                           # telea or ns
-# Apply smoothing for inpainted layer
-
-# Apply inpainting using opencv
-visual_traversability_filtered:
-  enable: True
-  fill_nan: False
-  is_height_layer: False
-  layer_name: "visual_traversability_filtered"
-  extra_params:
-    method: "telea"                           # telea or ns
-# Apply smoothing for inpainted layer
-
-
-# Apply smoothing.
-# smooth_filter_visual_traversability:
-#   name: smooth_filter
-#   enable: True
-#   fill_nan: False
-#   is_height_layer: False
-#   layer_name: "visual_traversability_smooth"
-#   extra_params:
-#     input_layer_name: "visual_traversability"
\ No newline at end of file
+    method: "telea"
\ No newline at end of file
diff --git a/wild_visual_navigation_ros/config/elevation_mapping_cupy/anymal_sensor_parameter.yaml b/wild_visual_navigation_ros/config/elevation_mapping_cupy/anymal_sensor_parameter.yaml
index eb2bc355..5810011a 100644
--- a/wild_visual_navigation_ros/config/elevation_mapping_cupy/anymal_sensor_parameter.yaml
+++ b/wild_visual_navigation_ros/config/elevation_mapping_cupy/anymal_sensor_parameter.yaml
@@ -80,19 +80,7 @@ subscribers:
   #   channels: ["visual_confidence"]
   #   data_type: image
 
-  # Depth cameras
-  front_bpearl:
-    channels: []
-    fusion: []
-    topic_name: /robot_self_filter/bpearl_front/point_cloud
-    data_type: pointcloud
 
-  rear_bpearl:
-    channels: []
-    fusion: []
-    topic_name: /robot_self_filter/bpearl_rear/point_cloud
-    data_type: pointcloud
-  
   front_depth:
     channels: []
     fusion: []
@@ -117,21 +105,37 @@ subscribers:
     topic_name: /depth_camera_right/point_cloud_self_filtered
     data_type: pointcloud
   
-  velodyne:
+
+  # velodyne:
+  #   channels: []
+  #   fusion: []
+  #   topic_name: /point_cloud_filter/lidar/point_cloud_filtered
+  #   data_type: pointcloud
+
+
+  # Cerberus
+  front_bpearl:
     channels: []
     fusion: []
-    topic_name: /point_cloud_filter/lidar/point_cloud_filtered
+    topic_name: /robot_self_filter/bpearl_front/point_cloud
     data_type: pointcloud
 
-  # Cameras for D
-  front_depth_d:
+  rear_bpearl:
     channels: []
     fusion: []
-    topic_name: /depth_camera_front_upper/point_cloud_self_filtered
+    topic_name: /robot_self_filter/bpearl_rear/point_cloud
     data_type: pointcloud
+  
 
-  rear_depth_d:
-    channels: []
-    fusion: []
-    topic_name: /depth_camera_rear_upper/point_cloud_self_filtered
-    data_type: pointcloud
\ No newline at end of file
+  # Cameras for D
+  # front_depth_d:
+  #   channels: []
+  #   fusion: []
+  #   topic_name: /depth_camera_front_upper/point_cloud_self_filtered
+  #   data_type: pointcloud
+
+  # rear_depth_d:
+  #   channels: []
+  #   fusion: []
+  #   topic_name: /depth_camera_rear_upper/point_cloud_self_filtered
+  #   data_type: pointcloud
\ No newline at end of file