diff --git a/launch/ld14p.launch.py b/launch/ld14p.launch.py
index da33ae4..d8d241f 100644
--- a/launch/ld14p.launch.py
+++ b/launch/ld14p.launch.py
@@ -1,6 +1,8 @@
 #!/usr/bin/env python3
 from launch import LaunchDescription
 from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+import os
 
 '''
 Parameter Description:
@@ -20,13 +22,15 @@
       {'angle_crop_max': 225.0}
       which is [135.0, 225.0], angle unit is degress.
 '''
+ldlidar_sl_ros2_dir = get_package_share_directory('ldlidar_sl_ros2')
+rviz_config_path = os.path.join(ldlidar_sl_ros2_dir, 'rviz2', 'ldlidar.rviz')
 
 def generate_launch_description():
   # LDROBOT LiDAR publisher node
   ldlidar_node = Node(
       package='ldlidar_sl_ros2',
       executable='ldlidar_sl_ros2_node',
-      name='ldlidar_publisher_ld14',
+      name='ldlidar_publisher_ld20',
       output='screen',
       parameters=[
         {'product_name': 'LDLiDAR_LD14P'},
@@ -49,12 +53,19 @@ def generate_launch_description():
     name='base_link_to_base_laser_ld14p',
     arguments=['0','0','0.18','0','0','0','base_link','base_laser']
   )
-
+  
+  rviz_node = Node(
+        package='rviz2',
+        executable='rviz2',
+        output='screen',
+        arguments=['-d', rviz_config_path]
+    )
 
   # Define LaunchDescription variable
   ld = LaunchDescription()
 
   ld.add_action(ldlidar_node)
   ld.add_action(base_link_to_laser_tf_node)
+  ld.add_action(rviz_node)
 
   return ld
\ No newline at end of file
diff --git a/rviz2/ldlidar.rviz b/rviz2/ldlidar.rviz
index 3f2ddfa..370afef 100644
--- a/rviz2/ldlidar.rviz
+++ b/rviz2/ldlidar.rviz
@@ -217,4 +217,4 @@ Window Geometry:
     collapsed: false
   Width: 1856
   X: 62
-  Y: 27
+  Y: 27
\ No newline at end of file