diff --git a/turtlebot4_viz/rviz/robot.rviz b/turtlebot4_viz/rviz/robot.rviz
index e3b84cd..aabb06a 100644
--- a/turtlebot4_viz/rviz/robot.rviz
+++ b/turtlebot4_viz/rviz/robot.rviz
@@ -466,14 +466,14 @@ Visualization Manager:
           Max Value: 1
           Median window: 5
           Min Value: 0
-          Name: RealsenseCamera
+          Name: OakdCamera
           Normalize Range: true
           Topic:
             Depth: 5
             Durability Policy: Volatile
             History Policy: Keep Last
             Reliability Policy: Reliable
-            Value: intel_realsense_r200_depth/image_raw
+            Value: oakd/rgb/preview/image_raw
           Value: true
         - Alpha: 1
           Autocompute Intensity Bounds: true
@@ -493,7 +493,7 @@ Visualization Manager:
           Max Intensity: 4096
           Min Color: 0; 0; 0
           Min Intensity: 0
-          Name: RealsenseDepthImage
+          Name: OakdDepthImage
           Position Transformer: XYZ
           Selectable: true
           Size (Pixels): 3
@@ -505,12 +505,12 @@ Visualization Manager:
             Filter size: 10
             History Policy: Keep Last
             Reliability Policy: Reliable
-            Value: intel_realsense_r200_depth/points
+            Value: oakd/rgb/preview/depth/points
           Use Fixed Frame: true
           Use rainbow: true
           Value: true
       Enabled: false
-      Name: Realsense
+      Name: Oakd
     - Class: rviz_default_plugins/MarkerArray
       Enabled: true
       Name: MarkerArray
@@ -585,7 +585,7 @@ Window Geometry:
   Navigation 2:
     collapsed: false
   QMainWindow State: 000000ff00000000fd00000004000000000000016a0000034afc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000029b000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e0061007600690067006100740069006f006e0020003201000002de000000a90000008100fffffffb0000001e005200650061006c00730065006e0073006500430061006d00650072006100000002c6000000c10000002800ffffff000000010000010f0000034afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000034a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004990000034a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-  RealsenseCamera:
+  OakdCamera:
     collapsed: false
   Selection:
     collapsed: false
@@ -595,4 +595,4 @@ Window Geometry:
     collapsed: true
   Width: 1545
   X: 696
-  Y: 229
\ No newline at end of file
+  Y: 229