diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index 927aa4b54b..9242dd2b40 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -45,6 +45,7 @@
   <arg name="use_experimental_lane_change_function" default="false"/>
   <!-- Others -->
   <arg name="use_foa" default="false"/>
+  <arg name="rviz_respawn" default="true"/>
 
   <!-- rtc settings (auto/manual) -->
   <let
@@ -148,6 +149,14 @@
 
   <!-- Tools -->
   <group>
-    <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(var rviz_config) -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png" if="$(var rviz)" respawn="true"/>
+    <node
+      pkg="rviz2"
+      exec="rviz2"
+      name="rviz2"
+      output="screen"
+      args="-d $(var rviz_config) -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png"
+      if="$(var rviz)"
+      respawn="$(var rviz_respawn)"
+    />
   </group>
 </launch>
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index c295b0c53a..b0849ce884 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -29,6 +29,9 @@
   <!-- Others -->
   <arg name="use_foa" default="$(var scenario_simulation)"/>
 
+  <let name="rviz_respawn" value="false" if="$(var scenario_simulation)"/>
+  <let name="rviz_respawn" value="true" unless="$(var scenario_simulation)"/>
+
   <group scoped="false">
     <!-- Vehicle -->
     <let name="launch_vehicle_interface" value="false" if="$(var vehicle_simulation)"/>
@@ -61,6 +64,7 @@
       <arg name="use_experimental_lane_change_function" value="$(var use_experimental_lane_change_function)"/>
       <!-- Others -->
       <arg name="use_foa" value="$(var use_foa)"/>
+      <arg name="rviz_respawn" value="$(var rviz_respawn)"/>
     </include>
   </group>