diff --git a/nodes/pid_controller.py b/nodes/pid_controller.py
index ac3626a..b431dc9 100755
--- a/nodes/pid_controller.py
+++ b/nodes/pid_controller.py
@@ -85,7 +85,6 @@ def laser_scan_callback(self, msg):
         cte_pub = rospy.Publisher('/cte', Float32, queue_size=1000)
         
         cte = self.pid.desired_distance - min(msg.ranges)
-        
         cte_pub.publish(cte)
         
         # This is where the magic happens!
diff --git a/rviz/husky_pid.rviz b/rviz/husky_pid.rviz
index d14bbc4..5eeaeca 100644
--- a/rviz/husky_pid.rviz
+++ b/rviz/husky_pid.rviz
@@ -50,7 +50,7 @@ Visualization Manager:
         Y: 0
         Z: 0
       Plane: XY
-      Plane Cell Count: 50
+      Plane Cell Count: 100
       Reference Frame: <Fixed Frame>
       Value: true
     - Alpha: 1
@@ -207,7 +207,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 20.58942413330078
+      Distance: 8.26428
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -216,7 +216,7 @@ Visualization Manager:
       Focal Point:
         X: 0.7165365815162659
         Y: -0.5501336455345154
-        Z: 0.20819270610809326
+        Z: 0.340473
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false