diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup_record.rviz b/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup_record.rviz
index 8b162425f0..6ab7883d78 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup_record.rviz
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup_record.rviz
@@ -3,9 +3,10 @@ Panels:
     Help Height: 78
     Name: Displays
     Property Tree Widget:
-      Expanded: ~
+      Expanded:
+        - /OverlayImage1
       Splitter Ratio: 0.4187380373477936
-    Tree Height: 624
+    Tree Height: 618
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -65,11 +66,6 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
-        base_camera_mount:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
         base_link:
           Alpha: 1
           Show Axes: false
@@ -85,14 +81,6 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
-        d435_front_left_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        d435_front_right_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
         elbow_flex_link:
           Alpha: 1
           Show Axes: false
@@ -113,11 +101,6 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
-        head_box_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
         head_camera_depth_frame:
           Alpha: 1
           Show Axes: false
@@ -138,6 +121,15 @@ Visualization Manager:
           Alpha: 1
           Show Axes: false
           Show Trail: false
+        head_l515_mount_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        head_l515_virtual_mount_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
         head_pan_link:
           Alpha: 1
           Show Axes: false
@@ -148,6 +140,14 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        insta360_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        l515_head_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
         l_gripper_finger_link:
           Alpha: 1
           Show Axes: false
@@ -455,6 +455,19 @@ Visualization Manager:
       Name: RvizScenePublisher
       Value: true
       topic_name: /rviz/image
+    - Class: jsk_rviz_plugin/OverlayImage
+      Enabled: true
+      Name: OverlayImage
+      Topic: /smach_image_publisher/image
+      Value: true
+      alpha: 0.800000011920929
+      height: 128
+      keep aspect ratio: true
+      left: 650
+      overwrite alpha value: false
+      top: 10
+      transport hint: compressed
+      width: 300
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -513,7 +526,7 @@ Window Geometry:
   Height: 1052
   Hide Left Dock: true
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd0000000400000000000001f800000382fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073020000019b000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003b000002f9000000c700fffffffb00000018004b0069006e00650063007400430061006d0065007200610000000373000000160000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e006100720072006f007700430061006d0065007200610000000244000001460000000000000000fb0000001800430061006e00630065006c0041006300740069006f006e000000033a000000830000007900ffffff000000010000010f00000382fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b00000382000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003f50000003efc0100000002fb0000000800540069006d00650100000000000003f50000024400fffffffb0000000800540069006d00650100000000000004500000000000000000000003f50000038200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001f80000037efc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073020000019b000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003d000002f5000000c900fffffffb00000018004b0069006e00650063007400430061006d0065007200610000000373000000160000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e006100720072006f007700430061006d0065007200610000000244000001460000000000000000fb0000001800430061006e00630065006c0041006300740069006f006e0000000338000000830000007f00ffffff000000010000010f00000382fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b00000382000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003f50000003efc0100000002fb0000000800540069006d00650100000000000003f5000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000003f50000037e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -524,4 +537,4 @@ Window Geometry:
     collapsed: true
   Width: 1013
   X: 67
-  Y: 180
+  Y: 134