diff --git a/docker-compose.yaml b/docker-compose.yaml
index 8d0a4ad..712cf33 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -192,7 +192,7 @@ services:
     # command: >
     #   ros2 launch cps_rmp220_support robot_rviz2.launch.py
     command: >
-      rviz2
+      ros2 launch cps_rmp220_support rviz.launch.py
     # Interactive shell
     stdin_open: true
     tty: true
diff --git a/docker/Dockerfile b/docker/Dockerfile
index fea84db..2bcd799 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -29,7 +29,7 @@ COPY dependencies.amd64.repos .
 RUN echo "Hardware platform is: $(uname -m)"
 RUN uname -a
 
-RUN echo "update base 18.08.2023-5"
+RUN echo "update base 22.08.2023"
 
 RUN if [ "$(uname -m)" = "x86_64" ]; then \
   echo "Copying files for linux/amd64"; \
@@ -80,7 +80,7 @@ RUN vcs import < overlay.repos
 
 WORKDIR /overlay_ws
 
-RUN echo "update overlay 17.08.2023"
+RUN echo "update overlay 22.08.2023"
 
 RUN source /rmp_ws/install/setup.bash \
   && apt-get update \
diff --git a/map_floor_save.pgm b/map_floor_save.pgm
new file mode 100644
index 0000000..0951807
Binary files /dev/null and b/map_floor_save.pgm differ
diff --git a/map_floor_save.yaml b/map_floor_save.yaml
new file mode 100644
index 0000000..5690bf9
--- /dev/null
+++ b/map_floor_save.yaml
@@ -0,0 +1,7 @@
+image: map_floor_save.pgm
+mode: trinary
+resolution: 0.05
+origin: [-13.7, -5.57, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25
\ No newline at end of file