diff --git a/code/agent/config/rviz_config.rviz b/code/agent/config/rviz_config.rviz
index b62eadde..0b34805a 100644
--- a/code/agent/config/rviz_config.rviz
+++ b/code/agent/config/rviz_config.rviz
@@ -7,6 +7,7 @@ Panels:
         - /PointCloud23
         - /PointCloud24
         - /PointCloud25
+        - /Path1
       Splitter Ratio: 0.5
     Tree Height: 308
   - Class: rviz/Selection
diff --git a/code/agent/src/agent/agent.py b/code/agent/src/agent/agent.py
index e2732f00..48fefbc2 100755
--- a/code/agent/src/agent/agent.py
+++ b/code/agent/src/agent/agent.py
@@ -27,7 +27,7 @@ def sensors(self):
              'yaw': 0.0, 'width': 300, 'height': 200, 'fov': 100},
             {'type': 'sensor.lidar.ray_cast', 'id': 'LIDAR',
              'x': 0.7, 'y': -0.4, 'z': 1.60, 'roll': 0.0, 'pitch': 0.0,
-             'yaw': 0.0},
+             'yaw': 0.0, "channels": 1},
             {'type': 'sensor.other.radar', 'id': 'RADAR',
              'x': 0.7, 'y': -0.4, 'z': 1.60, 'roll': 0.0, 'pitch': 0.0,
              'yaw': -45.0, 'horizontal_fov': 30, 'vertical_fov': 30},
diff --git a/doc/06_perception/02_lidar_distance_utility.md b/doc/06_perception/02_lidar_distance_utility.md
index 69017a2a..843c7999 100644
--- a/doc/06_perception/02_lidar_distance_utility.md
+++ b/doc/06_perception/02_lidar_distance_utility.md
@@ -52,7 +52,7 @@ starting from 20cm above the ground you have to set min_z = -1.5.
 
 The meaning of the x and y values is described by the following image:
 
-![lidar filter](../00_assets/lidar_filter.png)
+![Parameters in relation to car](../00_assets/lidar_filter.png)
 
 ### Example