diff --git a/cartographer_ros/launch/grpc_demo_backpack_2d.launch b/cartographer_ros/launch/grpc_demo_backpack_2d.launch
index 7fb65d7..b8bf583 100644
--- a/cartographer_ros/launch/grpc_demo_backpack_2d.launch
+++ b/cartographer_ros/launch/grpc_demo_backpack_2d.launch
@@ -15,6 +15,8 @@
 -->
 
 <launch>
+  <param name="/use_sim_time" value="true" />
+
   <param name="robot_description"
     textfile="$(find cartographer_ros)/urdf/backpack_2d.urdf" />
 
@@ -37,4 +39,6 @@
 
   <node name="playbag" pkg="rosbag" type="play"
         args="--clock $(arg bag_filename)" />
+  <node name="rviz" pkg="rviz" type="rviz" required="true"
+      args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />
 </launch>