diff --git a/cartographer_ros/configuration_files/demo_2d.rviz b/cartographer_ros/configuration_files/demo_2d.rviz
index dd4d746..85125cd 100644
--- a/cartographer_ros/configuration_files/demo_2d.rviz
+++ b/cartographer_ros/configuration_files/demo_2d.rviz
@@ -172,7 +172,7 @@ Visualization Manager:
     - Class: rviz/MarkerArray
       Enabled: true
       Marker Topic: /trajectory_node_list
-      Name: MarkerArray
+      Name: Trajectories
       Namespaces:
         "": true
       Queue Size: 100
@@ -185,6 +185,14 @@ Visualization Manager:
         "": true
       Queue Size: 100
       Value: true
+    - Class: rviz/MarkerArray
+      Enabled: true
+      Marker Topic: /constraint_list
+      Name: Constraints
+      Namespaces:
+        "": true
+      Queue Size: 100
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 100; 100; 100
diff --git a/cartographer_ros/configuration_files/demo_3d.rviz b/cartographer_ros/configuration_files/demo_3d.rviz
index 6beebca..e061b6a 100644
--- a/cartographer_ros/configuration_files/demo_3d.rviz
+++ b/cartographer_ros/configuration_files/demo_3d.rviz
@@ -234,7 +234,7 @@ Visualization Manager:
     - Class: rviz/MarkerArray
       Enabled: true
       Marker Topic: /trajectory_node_list
-      Name: MarkerArray
+      Name: Trajectories
       Namespaces:
         "": true
       Queue Size: 100
@@ -247,6 +247,14 @@ Visualization Manager:
         "": true
       Queue Size: 100
       Value: true
+    - Class: rviz/MarkerArray
+      Enabled: true
+      Marker Topic: /constraint_list
+      Name: Constraints
+      Namespaces:
+        "": true
+      Queue Size: 100
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 100; 100; 100