diff --git a/mvsim_tutorial/demo_road_circuit1.launch.py b/mvsim_tutorial/demo_road_circuit1.launch.py
new file mode 100644
index 0000000..b1d36f3
--- /dev/null
+++ b/mvsim_tutorial/demo_road_circuit1.launch.py
@@ -0,0 +1,93 @@
+# ROS2 launch file
+
+from launch import LaunchDescription
+from launch.substitutions import TextSubstitution
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument
+from ament_index_python import get_package_share_directory
+from launch.conditions import IfCondition
+import os
+
+
+def generate_launch_description():
+    mvsimDir = get_package_share_directory("mvsim")
+    # print('mvsimDir: ' + mvsimDir)
+
+    # args that can be set from the command line or a default will be used
+    world_file_launch_arg = DeclareLaunchArgument(
+        "world_file", default_value=TextSubstitution(
+            text=os.path.join(mvsimDir, 'mvsim_tutorial', 'demo_road_circuit1.world.xml')))
+
+    headless_launch_arg = DeclareLaunchArgument(
+        "headless", default_value='False')
+
+    do_fake_localization_arg = DeclareLaunchArgument(
+        "do_fake_localization", default_value='True', description='publish tf odom -> base_link')
+
+    mvsim_node = Node(
+        package='mvsim',
+        executable='mvsim_node',
+        name='mvsim',
+        output='screen',
+        parameters=[
+            os.path.join(mvsimDir, 'mvsim_tutorial',
+                         'mvsim_ros2_params.yaml'),
+            {
+                "world_file": LaunchConfiguration('world_file'),
+                "headless": LaunchConfiguration('headless'),
+                "do_fake_localization": LaunchConfiguration('do_fake_localization'),
+            }]
+    )
+
+    # rviz
+    use_rviz = LaunchConfiguration('use_rviz')
+
+    declare_use_rviz_cmd = DeclareLaunchArgument(
+        'use_rviz',
+        default_value='True',
+        description='Whether to start RVIZ')
+
+    rviz2_nodes = [
+        Node(
+            condition=IfCondition(use_rviz),
+            package='rviz2',
+            executable='rviz2',
+            name='rviz2',
+            # namespace=f"veh{idx}",
+            arguments=[
+                '-d', [os.path.join(mvsimDir, 'mvsim_tutorial', 'demo_road_circuit1_ros2.rviz')]],
+            output='screen',
+            remappings=[
+                ("/map", f"/r{idx}/map"),
+                ("/tf", f"/r{idx}/tf"),
+                ("/tf_static", f"/r{idx}/tf_static"),
+                ("/goal_pose", f"/r{idx}/goal_pose"),
+                ("/clicked_point", f"/r{idx}/clicked_point"),
+                ("/vehs/cmd_vel", f"/r{idx}/cmd_vel"),
+                ("/vehs/lidar1_points", f"/r{idx}/lidar1_points"),
+                ("/vehs/camera1/image_raw", f"/r{idx}/camera1/image_raw"),
+                ("/vehs/chassis_markers", f"/r{idx}/chassis_markers"),
+                ("/vehs/scanner1", f"/r{idx}/scanner1"),
+            ],
+        )
+        for idx in range(1, 2)
+    ]
+
+    rviz2_node = Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        arguments=[
+                '-d', [os.path.join(mvsimDir, 'mvsim_tutorial', 'demo_warehouse_ros2.rviz')]]
+    )
+
+    return LaunchDescription([
+        world_file_launch_arg,
+        declare_use_rviz_cmd,
+        headless_launch_arg,
+        do_fake_localization_arg,
+        mvsim_node
+    ]
+        + rviz2_nodes
+    )
diff --git a/mvsim_tutorial/demo_road_circuit1_ros2.rviz b/mvsim_tutorial/demo_road_circuit1_ros2.rviz
new file mode 100644
index 0000000..983349a
--- /dev/null
+++ b/mvsim_tutorial/demo_road_circuit1_ros2.rviz
@@ -0,0 +1,265 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 101
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 339
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_plugin_tutorials/Teleop
+    Name: Teleop
+    Topic: /vehs/cmd_vel
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_footprint:
+          Value: true
+        base_link:
+          Value: true
+        camera1:
+          Value: true
+        lidar1_points:
+          Value: true
+        map:
+          Value: true
+        odom:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Tree:
+        map:
+          odom:
+            base_link:
+              base_footprint:
+                {}
+              camera1:
+                {}
+              lidar1_points:
+                {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 21.35959243774414
+        Min Value: -0.0035123229026794434
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: AxisColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.10000000149011612
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /vehs/lidar1_points
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz_default_plugins/Image
+      Enabled: true
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /vehs/camera1/image_raw
+      Value: true
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: true
+      Name: MarkerArray
+      Namespaces:
+        mvsim.chassis_shape: true
+        mvsim.chassis_shape.wheel0: true
+        mvsim.chassis_shape.wheel1: true
+        mvsim.chassis_shape.wheel2: true
+        mvsim.chassis_shape.wheel3: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /vehs/chassis_markers
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: LaserScan
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 5
+      Size (m): 0.05000000074505806
+      Style: Points
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /scanner1
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 38.70017623901367
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 4.5373148918151855
+        Y: -0.9371897578239441
+        Z: 2.458820343017578
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.4003980755805969
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 2.8672516345977783
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1043
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016b000003b9fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000000a0049006d006100670065010000003d000000fb0000002800fffffffb000000100044006900730070006c006100790073010000013e000001f5000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00540065006c0065006f00700100000339000000bd0000004700ffffff000000010000010f0000039efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000039e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000060f000003b900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Teleop:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1920
+  X: 1920
+  Y: 0