We didnt have proper flagging in the online node

ros/launch/online_node.launch.py

@@ -5,13 +5,16 @@
 from launch.launch_description_sources import (
     get_launch_description_from_python_launch_file,
 )
+from launch.conditions import IfCondition
 from launch.substitutions import LaunchConfiguration, PythonExpression
 from launch_ros.actions import Node
 from launch_ros.substitutions.find_package import get_package_share_directory
 
 
 def generate_launch_description():
-    use_sim_time = LaunchConfiguration("use_sim_time", default=(os.getenv("SIMULATION") == "true"))
+    use_sim_time = LaunchConfiguration(
+        "use_sim_time", default=(os.getenv("SIMULATION") == "true")
+    )
     tf_timeout = LaunchConfiguration(
         "tf_timeout",
         default=PythonExpression(["'0.1' if ", use_sim_time, " else '0.0'"]),
@@ -31,7 +34,8 @@ def generate_launch_description():
         ],
         parameters=[
             # KISS-ICP configuration
-            get_package_share_directory("kinematic_icp") + "/config/kinematic_icp_ros.yaml",
+            get_package_share_directory("kinematic_icp")
+            + "/config/kinematic_icp_ros.yaml",
             {
                 # Input topic, is not a remap to marry API with offline node
                 "input": LaunchConfiguration("lidar_topic"),
@@ -47,10 +51,15 @@ def generate_launch_description():
             },
         ],
     )
-
-    return LaunchDescription(
-        [
-            common_launch_args,
-            kinematic_icp_online_node,
-        ]
+    rviz_node = Node(
+        package="rviz2",
+        executable="rviz2",
+        output="screen",
+        arguments=[
+            "-d",
+            get_package_share_directory("kinematic_icp") + "/rviz/kinematic_icp.rviz",
+        ],
+        condition=IfCondition(LaunchConfiguration("visualize")),
     )
+
+    return LaunchDescription([common_launch_args, kinematic_icp_online_node, rviz_node])