diff --git a/cartographer_rviz/cartographer_rviz/drawable_submap.cc b/cartographer_rviz/cartographer_rviz/drawable_submap.cc
index 96dd59d..a722633 100644
--- a/cartographer_rviz/cartographer_rviz/drawable_submap.cc
+++ b/cartographer_rviz/cartographer_rviz/drawable_submap.cc
@@ -25,6 +25,7 @@
 #include "Eigen/Geometry"
 #include "OgreGpuProgramParams.h"
 #include "OgreImage.h"
+#include "cartographer/common/make_unique.h"
 #include "cartographer/common/port.h"
 #include "cartographer_ros_msgs/SubmapQuery.h"
 #include "eigen_conversions/eigen_msg.h"
@@ -54,7 +55,9 @@ std::string GetSubmapIdentifier(const int trajectory_id,
 }  // namespace
 
 DrawableSubmap::DrawableSubmap(const int trajectory_id, const int submap_index,
-                               Ogre::SceneManager* const scene_manager)
+                               Ogre::SceneManager* const scene_manager,
+                               ::rviz::Property* submap_category,
+                               const bool visible)
     : trajectory_id_(trajectory_id),
       submap_index_(submap_index),
       scene_manager_(scene_manager),
@@ -73,7 +76,16 @@ DrawableSubmap::DrawableSubmap(const int trajectory_id, const int submap_index,
   material_->setCullingMode(Ogre::CULL_NONE);
   material_->setDepthBias(-1.f, 0.f);
   material_->setDepthWriteEnabled(false);
-  scene_node_->attachObject(manual_object_);
+  // DrawableSubmap creates and manages its visibility property object
+  // (a unique_ptr is needed because the Qt parent of the visibility
+  // property is the submap_category object - the BoolProperty needs
+  // to be destroyed along with the DrawableSubmap)
+  visibility_ = ::cartographer::common::make_unique<::rviz::BoolProperty>(
+      "" /* title */, visible, "" /* description */, submap_category,
+      SLOT(ToggleVisibility()), this);
+  if (visible) {
+    scene_node_->attachObject(manual_object_);
+  }
   connect(this, SIGNAL(RequestSucceeded()), this, SLOT(UpdateSceneNode()));
 }
 
@@ -110,11 +122,20 @@ void DrawableSubmap::Update(
     // for this submap.
     UpdateTransform();
   }
+  visibility_->setName(
+      QString("%1.%2").arg(submap_index_).arg(metadata_version_));
+  visibility_->setDescription(
+      QString("Toggle visibility of this individual submap.<br><br>"
+              "Trajectory %1, submap %2, submap version %3")
+          .arg(trajectory_id_)
+          .arg(submap_index_)
+          .arg(metadata_version_));
 }
 
 bool DrawableSubmap::MaybeFetchTexture(ros::ServiceClient* const client) {
   ::cartographer::common::MutexLocker locker(&mutex_);
-  const bool newer_version_available = texture_version_ < metadata_version_;
+  // Received metadata version can also be lower - if we restarted Cartographer
+  const bool newer_version_available = texture_version_ != metadata_version_;
   const std::chrono::milliseconds now =
       std::chrono::duration_cast<std::chrono::milliseconds>(
           std::chrono::system_clock::now().time_since_epoch());
@@ -244,4 +265,16 @@ float DrawableSubmap::UpdateAlpha(const float target_alpha) {
   return current_alpha_;
 }
 
+void DrawableSubmap::ToggleVisibility() {
+  if (visibility_->getBool()) {
+    if (scene_node_->numAttachedObjects() == 0) {
+      scene_node_->attachObject(manual_object_);
+    }
+  } else {
+    if (scene_node_->numAttachedObjects() > 0) {
+      scene_node_->detachObject(manual_object_);
+    }
+  }
+}
+
 }  // namespace cartographer_rviz
diff --git a/cartographer_rviz/cartographer_rviz/drawable_submap.h b/cartographer_rviz/cartographer_rviz/drawable_submap.h
index 3ef89b0..8824028 100644
--- a/cartographer_rviz/cartographer_rviz/drawable_submap.h
+++ b/cartographer_rviz/cartographer_rviz/drawable_submap.h
@@ -34,6 +34,7 @@
 #include "ros/ros.h"
 #include "rviz/display_context.h"
 #include "rviz/frame_manager.h"
+#include "rviz/properties/bool_property.h"
 
 namespace cartographer_rviz {
 
@@ -46,7 +47,8 @@ class DrawableSubmap : public QObject {
   // Each submap is identified by a 'trajectory_id' plus a 'submap_index'.
   // 'scene_manager' is the Ogre scene manager to which to add a node.
   DrawableSubmap(int trajectory_id, int submap_index,
-                 Ogre::SceneManager* scene_manager);
+                 Ogre::SceneManager* scene_manager,
+                 ::rviz::Property* submap_category, const bool visible);
   ~DrawableSubmap() override;
   DrawableSubmap(const DrawableSubmap&) = delete;
   DrawableSubmap& operator=(const DrawableSubmap&) = delete;
@@ -68,6 +70,13 @@ class DrawableSubmap : public QObject {
   // 'current_tracking_z'.
   void SetAlpha(double current_tracking_z);
 
+  int submap_index() const { return submap_index_; }
+  int trajectory_id() const { return trajectory_id_; }
+  bool visibility() const { return visibility_->getBool(); }
+  void set_visibility(const bool visibility) {
+    visibility_->setBool(visibility);
+  }
+
  Q_SIGNALS:
   // RPC request succeeded.
   void RequestSucceeded();
@@ -75,6 +84,7 @@ class DrawableSubmap : public QObject {
  private Q_SLOTS:
   // Callback when an rpc request succeeded.
   void UpdateSceneNode();
+  void ToggleVisibility();
 
  private:
   void UpdateTransform();
@@ -100,6 +110,7 @@ class DrawableSubmap : public QObject {
   std::future<void> rpc_request_future_;
   ::cartographer_ros_msgs::SubmapQuery::Response response_ GUARDED_BY(mutex_);
   float current_alpha_ = 0.f;
+  std::unique_ptr<::rviz::BoolProperty> visibility_;
 };
 
 }  // namespace cartographer_rviz
diff --git a/cartographer_rviz/cartographer_rviz/submaps_display.cc b/cartographer_rviz/cartographer_rviz/submaps_display.cc
index f36f9df..338fe8e 100644
--- a/cartographer_rviz/cartographer_rviz/submaps_display.cc
+++ b/cartographer_rviz/cartographer_rviz/submaps_display.cc
@@ -27,6 +27,7 @@
 #include "ros/ros.h"
 #include "rviz/display_context.h"
 #include "rviz/frame_manager.h"
+#include "rviz/properties/bool_property.h"
 #include "rviz/properties/string_property.h"
 
 namespace cartographer_rviz {
@@ -54,6 +55,13 @@ SubmapsDisplay::SubmapsDisplay() : tf_listener_(tf_buffer_) {
       "Tracking frame", kDefaultTrackingFrame,
       "Tracking frame, used for fading out submaps.", this);
   client_ = update_nh_.serviceClient<::cartographer_ros_msgs::SubmapQuery>("");
+  submaps_category_ = new ::rviz::Property(
+      "Submaps", QVariant(), "List of all submaps, organized by trajectories.",
+      this);
+  visibility_all_enabled_ = new ::rviz::BoolProperty(
+      "All Enabled", true,
+      "Whether all the submaps should be displayed or not.", submaps_category_,
+      SLOT(AllEnabledToggled()), this);
   const std::string package_path = ::ros::package::getPath(ROS_PACKAGE_NAME);
   Ogre::ResourceGroupManager::getSingleton().addResourceLocation(
       package_path + kMaterialsDirectory, "FileSystem", ROS_PACKAGE_NAME);
@@ -91,20 +99,40 @@ void SubmapsDisplay::reset() {
 void SubmapsDisplay::processMessage(
     const ::cartographer_ros_msgs::SubmapList::ConstPtr& msg) {
   ::cartographer::common::MutexLocker locker(&mutex_);
+  // In case Cartographer node is relaunched, destroy
+  // trajectories from the previous instance
+  if (msg->trajectory.size() < trajectories_.size()) {
+    trajectories_.clear();
+  }
   for (size_t trajectory_id = 0; trajectory_id < msg->trajectory.size();
        ++trajectory_id) {
     if (trajectory_id >= trajectories_.size()) {
-      trajectories_.emplace_back();
+      // When a trajectory is destroyed, it also needs to delete its rviz
+      // Property object, so we use a unique_ptr for it
+      trajectories_.push_back(Trajectory(
+          ::cartographer::common::make_unique<::rviz::Property>(
+              QString("Trajectory %1").arg(trajectory_id), QVariant(),
+              QString("List of all submaps in Trajectory %1.")
+                  .arg(trajectory_id),
+              submaps_category_),
+          std::vector<std::unique_ptr<DrawableSubmap>>()));
     }
-    auto& trajectory = trajectories_[trajectory_id];
+    auto& trajectory_category = trajectories_[trajectory_id].first;
+    auto& trajectory = trajectories_[trajectory_id].second;
     const std::vector<::cartographer_ros_msgs::SubmapEntry>& submap_entries =
         msg->trajectory[trajectory_id].submap;
+    // Same as above, destroy the whole trajectory if we detect that
+    // we have more submaps than we should
+    if (submap_entries.size() < trajectory.size()) {
+      trajectory.clear();
+    }
     for (size_t submap_index = 0; submap_index < submap_entries.size();
          ++submap_index) {
       if (submap_index >= trajectory.size()) {
         trajectory.push_back(
             ::cartographer::common::make_unique<DrawableSubmap>(
-                trajectory_id, submap_index, context_->getSceneManager()));
+                trajectory_id, submap_index, context_->getSceneManager(),
+                trajectory_category.get(), visibility_all_enabled_->getBool()));
       }
       trajectory[submap_index]->Update(msg->header,
                                        submap_entries[submap_index],
@@ -122,7 +150,7 @@ void SubmapsDisplay::update(const float wall_dt, const float ros_dt) {
                                    tracking_frame_property_->getStdString(),
                                    ros::Time(0) /* latest */);
     for (auto& trajectory : trajectories_) {
-      for (auto& submap : trajectory) {
+      for (auto& submap : trajectory.second) {
         submap->SetAlpha(transform_stamped.transform.translation.z);
       }
     }
@@ -133,22 +161,32 @@ void SubmapsDisplay::update(const float wall_dt, const float ros_dt) {
   // Schedule fetching of new submap textures.
   for (const auto& trajectory : trajectories_) {
     int num_ongoing_requests = 0;
-    for (const auto& submap : trajectory) {
+    for (const auto& submap : trajectory.second) {
       if (submap->QueryInProgress()) {
         ++num_ongoing_requests;
       }
     }
-    for (int submap_index = static_cast<int>(trajectory.size()) - 1;
+    for (int submap_index = static_cast<int>(trajectory.second.size()) - 1;
          submap_index >= 0 &&
          num_ongoing_requests < kMaxOnGoingRequestsPerTrajectory;
          --submap_index) {
-      if (trajectory[submap_index]->MaybeFetchTexture(&client_)) {
+      if (trajectory.second[submap_index]->MaybeFetchTexture(&client_)) {
         ++num_ongoing_requests;
       }
     }
   }
 }
 
+void SubmapsDisplay::AllEnabledToggled() {
+  ::cartographer::common::MutexLocker locker(&mutex_);
+  const bool visibility = visibility_all_enabled_->getBool();
+  for (auto& trajectory : trajectories_) {
+    for (auto& submap : trajectory.second) {
+      submap->set_visibility(visibility);
+    }
+  }
+}
+
 }  // namespace cartographer_rviz
 
 PLUGINLIB_EXPORT_CLASS(cartographer_rviz::SubmapsDisplay, ::rviz::Display)
diff --git a/cartographer_rviz/cartographer_rviz/submaps_display.h b/cartographer_rviz/cartographer_rviz/submaps_display.h
index eda4a53..83e5238 100644
--- a/cartographer_rviz/cartographer_rviz/submaps_display.h
+++ b/cartographer_rviz/cartographer_rviz/submaps_display.h
@@ -49,6 +49,7 @@ class SubmapsDisplay
 
  private Q_SLOTS:
   void Reset();
+  void AllEnabledToggled();
 
  private:
   void CreateClient();
@@ -66,9 +67,12 @@ class SubmapsDisplay
   ::rviz::StringProperty* submap_query_service_property_;
   ::rviz::StringProperty* map_frame_property_;
   ::rviz::StringProperty* tracking_frame_property_;
-  using Trajectory = std::vector<std::unique_ptr<DrawableSubmap>>;
+  using Trajectory = std::pair<std::unique_ptr<::rviz::Property>,
+                               std::vector<std::unique_ptr<DrawableSubmap>>>;
   std::vector<Trajectory> trajectories_ GUARDED_BY(mutex_);
   ::cartographer::common::Mutex mutex_;
+  ::rviz::Property* submaps_category_;
+  ::rviz::BoolProperty* visibility_all_enabled_;
 };
 
 }  // namespace cartographer_rviz