diff --git a/README.md b/README.md
index 6a8dd0d3..08c5da0f 100644
--- a/README.md
+++ b/README.md
@@ -78,8 +78,8 @@ Full documentation available on [Read the Docs](https://lbr-stack.readthedocs.io
     ```shell
     source install/setup.bash
     ros2 launch lbr_bringup rviz.launch.py \
-        rviz_config_pkg:=lbr_bringup \
-        rviz_config:=config/mock.rviz
+        rviz_cfg_pkg:=lbr_bringup \
+        rviz_cfg:=config/mock.rviz
     ```
 
 Now, run the [demos](https://lbr-stack.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_demos/doc/lbr_demos.html). To get started with the real robot, checkout the [Hardware Setup](https://lbr-stack.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_fri_ros2_stack/doc/hardware_setup.html).
diff --git a/lbr_bringup/doc/lbr_bringup.rst b/lbr_bringup/doc/lbr_bringup.rst
index 7493620c..b0395b29 100644
--- a/lbr_bringup/doc/lbr_bringup.rst
+++ b/lbr_bringup/doc/lbr_bringup.rst
@@ -114,8 +114,8 @@ This launch file will spin up ``RViz`` for visualization. It will (see `rviz.lau
 .. code:: bash
 
     ros2 launch lbr_bringup rviz.launch.py \
-            rviz_config_pkg:=lbr_bringup \
-            rviz_config:=config/mock.rviz # [gazebo.rviz, hardware.rviz, mock.rviz]
+            rviz_cfg_pkg:=lbr_bringup \
+            rviz_cfg:=config/mock.rviz # [gazebo.rviz, hardware.rviz, mock.rviz]
 
 .. note::
     List all arguments for the launch file via ``ros2 launch lbr_bringup rviz.launch.py -s``.
@@ -156,8 +156,8 @@ The below shows an example of the `rviz.launch.py <https://github.com/lbr-stack/
         ld = LaunchDescription()
 
         # launch arguments
-        ld.add_action(RVizMixin.arg_rviz_config())
-        ld.add_action(RVizMixin.arg_rviz_config_pkg())
+        ld.add_action(RVizMixin.arg_rviz_cfg())
+        ld.add_action(RVizMixin.arg_rviz_cfg_pkg())
 
         # rviz
         ld.add_action(RVizMixin.node_rviz())
diff --git a/lbr_bringup/launch/move_group.launch.py b/lbr_bringup/launch/move_group.launch.py
index 7d71292a..fcfb19aa 100644
--- a/lbr_bringup/launch/move_group.launch.py
+++ b/lbr_bringup/launch/move_group.launch.py
@@ -46,8 +46,8 @@ def hidden_setup(context: LaunchContext) -> List[LaunchDescriptionEntity]:
 
     # RViz if desired
     rviz = RVizMixin.node_rviz(
-        rviz_config_pkg=f"{model}_moveit_config",
-        rviz_config="config/moveit.rviz",
+        rviz_cfg_pkg=f"{model}_moveit_config",
+        rviz_cfg="config/moveit.rviz",
         parameters=LBRMoveGroupMixin.params_rviz(
             moveit_configs=moveit_configs_builder.to_moveit_configs()
         )
diff --git a/lbr_bringup/launch/rviz.launch.py b/lbr_bringup/launch/rviz.launch.py
index cacc2faf..51857d14 100644
--- a/lbr_bringup/launch/rviz.launch.py
+++ b/lbr_bringup/launch/rviz.launch.py
@@ -6,8 +6,8 @@ def generate_launch_description() -> LaunchDescription:
     ld = LaunchDescription()
 
     # launch arguments
-    ld.add_action(RVizMixin.arg_rviz_config())
-    ld.add_action(RVizMixin.arg_rviz_config_pkg())
+    ld.add_action(RVizMixin.arg_rviz_cfg())
+    ld.add_action(RVizMixin.arg_rviz_cfg_pkg())
 
     # rviz
     ld.add_action(RVizMixin.node_rviz())
diff --git a/lbr_bringup/lbr_bringup/rviz.py b/lbr_bringup/lbr_bringup/rviz.py
index 824bee74..b85e0ffe 100644
--- a/lbr_bringup/lbr_bringup/rviz.py
+++ b/lbr_bringup/lbr_bringup/rviz.py
@@ -16,32 +16,32 @@ def arg_rviz(default_value: str = "false") -> DeclareLaunchArgument:
         )
 
     @staticmethod
-    def arg_rviz_config_pkg(
+    def arg_rviz_cfg_pkg(
         default_value: str = "lbr_bringup",
     ) -> DeclareLaunchArgument:
         return DeclareLaunchArgument(
-            name="rviz_config_pkg",
+            name="rviz_cfg_pkg",
             default_value=default_value,
-            description="The RViz configuration file.",
+            description="The package containing the RViz configuration file.",
         )
 
     @staticmethod
-    def arg_rviz_config(
+    def arg_rviz_cfg(
         default_value: str = "config/mock.rviz",
     ) -> DeclareLaunchArgument:
         return DeclareLaunchArgument(
-            name="rviz_config",
+            name="rviz_cfg",
             default_value=default_value,
-            description="The RViz configuration file.",
+            description="The RViz configuration file relative to rviz_cfg_pkg.",
         )
 
     @staticmethod
     def node_rviz(
-        rviz_config_pkg: Optional[
-            Union[LaunchConfiguration, str]
-        ] = LaunchConfiguration("rviz_config_pkg", default="lbr_bringup"),
-        rviz_config: Optional[Union[LaunchConfiguration, str]] = LaunchConfiguration(
-            "rviz_config", default="config/mock.rviz"
+        rviz_cfg_pkg: Optional[Union[LaunchConfiguration, str]] = LaunchConfiguration(
+            "rviz_cfg_pkg", default="lbr_bringup"
+        ),
+        rviz_cfg: Optional[Union[LaunchConfiguration, str]] = LaunchConfiguration(
+            "rviz_cfg", default="config/mock.rviz"
         ),
         **kwargs,
     ) -> Node:
@@ -53,8 +53,8 @@ def node_rviz(
                 "-d",
                 PathJoinSubstitution(
                     [
-                        FindPackageShare(rviz_config_pkg),
-                        rviz_config,
+                        FindPackageShare(rviz_cfg_pkg),
+                        rviz_cfg,
                     ]
                 ),
             ],