diff --git a/.gitignore b/.gitignore
index f8bcd11..b1272b0 100644
--- a/.gitignore
+++ b/.gitignore
@@ -45,3 +45,5 @@ qtcreator-*
 
 # Catkin custom files
 CATKIN_IGNORE
+
+*.kdev4
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 54b4473..156e2b8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -19,6 +19,7 @@ find_package(catkin REQUIRED COMPONENTS
   rviz
   std_msgs
   geometry_msgs
+  eigen_conversions
 )
 
 find_package(Eigen3 REQUIRED)
diff --git a/package.xml b/package.xml
index c43fdaf..e054b84 100644
--- a/package.xml
+++ b/package.xml
@@ -33,6 +33,7 @@
   <depend>message_runtime</depend>
   <depend>std_msgs</depend>
   <depend>geometry_msgs</depend>
+  <depend>eigen_conversions</depend>
 
   <export>
     <rviz plugin="${prefix}/plugin_description.xml"/>
diff --git a/src/tf_visual_tools_gui.cpp b/src/tf_visual_tools_gui.cpp
index b141d10..82415ad 100644
--- a/src/tf_visual_tools_gui.cpp
+++ b/src/tf_visual_tools_gui.cpp
@@ -94,13 +94,15 @@ createTFTab::createTFTab(QWidget *parent) : QWidget(parent)
   from_->lineEdit()->setPlaceholderText("Add new or select existing");
   //from_->addItem(tr("Select existing or add new TF"));
   connect(from_, SIGNAL(editTextChanged(const QString &)), this, SLOT(fromTextChanged(const QString &)));
+  from_->setCurrentText("world");
   
   to_ = new QLineEdit;
   to_->setPlaceholderText("to TF");
   connect(to_, SIGNAL(textChanged(const QString &)), this, SLOT(toTextChanged(const QString &)));
+  to_->setText(QString("laser"));
 
   add_imarker_ = new QCheckBox("i marker?", this);
-  add_imarker_->setCheckState(Qt::Unchecked);
+  add_imarker_->setCheckState(Qt::Checked);
 
   add_imarker_menu_ = new QCheckBox("menus?", this);
   add_imarker_menu_->setCheckState(Qt::Unchecked); 
@@ -215,14 +217,14 @@ void createTFTab::createNewIMarker(tf_data new_tf, bool has_menu)
 
   visualization_msgs::InteractiveMarker int_marker;
   int_marker.header.frame_id = new_tf.from_;
-  int_marker.scale = 0.25;
+  int_marker.scale = 0.20;
   int_marker.name = new_tf.name_.toStdString();
 
-  visualization_msgs::InteractiveMarkerControl box_control;
-  box_control.always_visible = true;
-  box_control.markers.push_back(marker);
-  box_control.interaction_mode = visualization_msgs::InteractiveMarkerControl::MOVE_ROTATE_3D;
-  int_marker.controls.push_back(box_control);
+  // visualization_msgs::InteractiveMarkerControl box_control;
+  // box_control.always_visible = true;
+  // box_control.markers.push_back(marker);
+  // box_control.interaction_mode = visualization_msgs::InteractiveMarkerControl::MOVE_ROTATE_3D;
+  // int_marker.controls.push_back(box_control);
 
   // create the handles to control individual dofs
   visualization_msgs::InteractiveMarkerControl control;
@@ -259,6 +261,15 @@ void createTFTab::createNewIMarker(tf_data new_tf, bool has_menu)
   control.interaction_mode = visualization_msgs::InteractiveMarkerControl::MOVE_AXIS;
   int_marker.controls.push_back(control);
   
+  // control.orientation.w = 1;
+  // control.orientation.x = 0;
+  // control.orientation.y = 1;
+  // control.orientation.z = 0;
+  // control.name = "move_plane_xy";
+  // control.interaction_mode = visualization_msgs::InteractiveMarkerControl::MOVE_PLANE;
+  // int_marker.controls.push_back(control);
+  
+  
   imarker_server_->insert(int_marker);
   imarker_server_->setCallback(int_marker.name, boost::bind( &createTFTab::processIMarkerFeedback, this, _1) );