diff --git a/object_analytics_node/launch/object_analytics_sample.launch.py b/object_analytics_node/launch/object_analytics_sample.launch.py
index d1472a6..70a2264 100644
--- a/object_analytics_node/launch/object_analytics_sample.launch.py
+++ b/object_analytics_node/launch/object_analytics_sample.launch.py
@@ -30,6 +30,7 @@ def generate_launch_description():
             remappings=[
                 ('/object_analytics/detected_objects', '/ros2_openvino_toolkit/detected_objects'),
                 ('/object_analytics/rgb', '/camera/color/image_raw'),
+                ('/object_analytics/pointcloud', '/camera/pointcloud'),
                 ],
             output='screen'),
 
@@ -42,4 +43,7 @@ def generate_launch_description():
         launch_ros.actions.Node(
             package='object_analytics_rviz', node_executable='marker_publisher', output='screen'),
 
+        launch_ros.actions.Node(
+            package='rviz2', node_executable='rviz2', output='screen',arguments=['--display-config', default_rviz]),
+
     ])