diff --git a/franka_gazebo/config/franka_sim_description_with_marker.rviz b/franka_gazebo/config/franka_sim_description_with_marker.rviz
deleted file mode 100644
index 89bc19a89..000000000
--- a/franka_gazebo/config/franka_sim_description_with_marker.rviz
+++ /dev/null
@@ -1,195 +0,0 @@
-Panels:
-  - Class: rviz/Displays
-    Help Height: 78
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /Global Options1
-        - /Status1
-        - /RobotModel1
-        - /InteractiveMarkers1
-      Splitter Ratio: 0.5
-    Tree Height: 724
-  - Class: rviz/Selection
-    Name: Selection
-  - Class: rviz/Tool Properties
-    Expanded:
-      - /2D Pose Estimate1
-      - /2D Nav Goal1
-      - /Publish Point1
-    Name: Tool Properties
-    Splitter Ratio: 0.5886790156364441
-  - Class: rviz/Views
-    Expanded:
-      - /Current View1
-    Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz/Time
-    Experimental: false
-    Name: Time
-    SyncMode: 0
-    SyncSource: ""
-Preferences:
-  PromptSaveOnExit: true
-Toolbars:
-  toolButtonStyle: 2
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Alpha: 0.5
-      Cell Size: 1
-      Class: rviz/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
-    - Alpha: 1
-      Class: rviz/RobotModel
-      Collision Enabled: false
-      Enabled: true
-      Links:
-        All Links Enabled: true
-        Expand Joint Details: false
-        Expand Link Details: false
-        Expand Tree: false
-        Link Tree Style: Links in Alphabetic Order
-        panda_link0:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        panda_link1:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        panda_link2:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        panda_link3:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        panda_link4:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        panda_link5:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        panda_link6:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        panda_link7:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        panda_link8:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        world:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-      Name: RobotModel
-      Robot Description: /panda/robot_description
-      TF Prefix: ""
-      Update Interval: 0
-      Value: true
-      Visual Enabled: true
-    - Class: rviz/InteractiveMarkers
-      Enable Transparency: true
-      Enabled: true
-      Name: InteractiveMarkers
-      Show Axes: false
-      Show Descriptions: true
-      Show Visual Aids: false
-      Update Topic: /panda/equilibrium_pose_marker/update
-      Value: true
-  Enabled: true
-  Global Options:
-    Background Color: 48; 48; 48
-    Default Light: true
-    Fixed Frame: world
-    Frame Rate: 30
-  Name: root
-  Tools:
-    - Class: rviz/Interact
-      Hide Inactive Objects: true
-    - Class: rviz/MoveCamera
-    - Class: rviz/Select
-    - Class: rviz/FocusCamera
-    - Class: rviz/Measure
-    - Class: rviz/SetInitialPose
-      Theta std deviation: 0.2617993950843811
-      Topic: /initialpose
-      X std deviation: 0.5
-      Y std deviation: 0.5
-    - Class: rviz/SetGoal
-      Topic: /move_base_simple/goal
-    - Class: rviz/PublishPoint
-      Single click: true
-      Topic: /clicked_point
-  Value: true
-  Views:
-    Current:
-      Class: rviz/Orbit
-      Distance: 3.1647839546203613
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.05999999865889549
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Focal Point:
-        X: 0
-        Y: 0
-        Z: 0
-      Focal Shape Fixed Size: true
-      Focal Shape Size: 0.05000000074505806
-      Invert Z Axis: false
-      Name: Current View
-      Near Clip Distance: 0.009999999776482582
-      Pitch: 0.6603980660438538
-      Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
-      Yaw: 0.4603980481624603
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: false
-  Height: 1025
-  Hide Left Dock: false
-  Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000035ffc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035f000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000035ffc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000035f000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d00000042fc0100000002fb0000000800540069006d006501000000000000073d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004b80000035f00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-  Selection:
-    collapsed: false
-  Time:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
-    collapsed: false
-  Width: 1853
-  X: 67
-  Y: 455
diff --git a/franka_gazebo/launch/panda.launch b/franka_gazebo/launch/panda.launch
index 80c00a6e5..b29844188 100644
--- a/franka_gazebo/launch/panda.launch
+++ b/franka_gazebo/launch/panda.launch
@@ -95,6 +95,6 @@
     <remap to="cartesian_impedance_example_controller/equilibrium_pose" from="equilibrium_pose" />
   </node>
 
-  <node  pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_gazebo)/config/franka_sim_description_with_marker.rviz" if="$(arg rviz)"/>
+  <node  pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/rviz/franka_description_with_marker.rviz" if="$(arg rviz)"/>
 
 </launch>