diff --git a/CHANGELOG.md b/CHANGELOG.md
index 4192b011687df1a5952963c7079dbd0058f77c91..53f9a8bcee0686141bba08ad762acf61d729db0b 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -4,7 +4,7 @@
 
   * Integrate `franka_description` as subdirectory
   * Fix dependencies on libfranka
-  * Fix RViz config file path in `franka_visualization`
+  * Fix RViz config file paths
   * Add missing `test_depend` to `franka_hw`
   * Add missing CMake install rules
 
diff --git a/franka_example_controllers/launch/cartesian_pose_example_controller.launch b/franka_example_controllers/launch/cartesian_pose_example_controller.launch
index e6cd1f33d82435c88b031a904db0391c4e2316be..3611c66c09af66b33b67f2b679f13a0822b9875f 100644
--- a/franka_example_controllers/launch/cartesian_pose_example_controller.launch
+++ b/franka_example_controllers/launch/cartesian_pose_example_controller.launch
@@ -11,6 +11,6 @@
   <group ns="$(arg arm_id)">
     <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
     <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="cartesian_pose_example_controller --shutdown-timeout 2"/>
-    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_description)/rviz/franka_description.rviz"/>
+    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
   </group>
 </launch>
diff --git a/franka_example_controllers/launch/cartesian_velocity_example_controller.launch b/franka_example_controllers/launch/cartesian_velocity_example_controller.launch
index db0d1e8585d3d338986b77673e51c67162d18fcf..b7bfc305cec5683733141f8001fc24332b6add01 100644
--- a/franka_example_controllers/launch/cartesian_velocity_example_controller.launch
+++ b/franka_example_controllers/launch/cartesian_velocity_example_controller.launch
@@ -11,6 +11,6 @@
   <group ns="$(arg arm_id)">
     <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
     <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="cartesian_velocity_example_controller --shutdown-timeout 2"/>
-    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_description)/rviz/franka_description.rviz"/>
+    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
   </group>
 </launch>
diff --git a/franka_example_controllers/launch/joint_impedance_example_controller.launch b/franka_example_controllers/launch/joint_impedance_example_controller.launch
index 1f12cefe5815061fe08beabec757702752aa13f8..e3a488e5f1a556736fc75b5107c9642f4681d0d6 100644
--- a/franka_example_controllers/launch/joint_impedance_example_controller.launch
+++ b/franka_example_controllers/launch/joint_impedance_example_controller.launch
@@ -11,6 +11,6 @@
   <group ns="$(arg arm_id)">
     <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
     <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="joint_impedance_example_controller --shutdown-timeout 2"/>
-    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_description)/rviz/franka_description.rviz"/>
+    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
   </group>
 </launch>
diff --git a/franka_example_controllers/launch/joint_position_example_controller.launch b/franka_example_controllers/launch/joint_position_example_controller.launch
index b22550d8e872f2fe5c4053653e662b1e3e49eee2..2cab22d838a8bb26535c0d05b7120717e9fe88fb 100644
--- a/franka_example_controllers/launch/joint_position_example_controller.launch
+++ b/franka_example_controllers/launch/joint_position_example_controller.launch
@@ -11,6 +11,6 @@
   <group ns="$(arg arm_id)">
     <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
     <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="joint_position_example_controller --shutdown-timeout 2"/>
-    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_description)/rviz/franka_description.rviz"/>
+    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
   </group>
 </launch>
diff --git a/franka_example_controllers/launch/joint_velocity_example_controller.launch b/franka_example_controllers/launch/joint_velocity_example_controller.launch
index 16a9441916720b392e9db94dcfb68c4412ff574d..ed8b84b0d2f7ad8ce7bf5464d842fde1e0064b7a 100644
--- a/franka_example_controllers/launch/joint_velocity_example_controller.launch
+++ b/franka_example_controllers/launch/joint_velocity_example_controller.launch
@@ -11,6 +11,6 @@
   <group ns="$(arg arm_id)">
     <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
     <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="joint_velocity_example_controller --shutdown-timeout 2"/>
-    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_description)/rviz/franka_description.rviz"/>
+    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
   </group>
 </launch>
diff --git a/franka_example_controllers/launch/model_example_controller.launch b/franka_example_controllers/launch/model_example_controller.launch
index 6bf195388adbaaad6e41f41d2a2852ebe3fb5875..1f1b2405f9e8914df00c4dce50cf47ac625bba52 100644
--- a/franka_example_controllers/launch/model_example_controller.launch
+++ b/franka_example_controllers/launch/model_example_controller.launch
@@ -11,6 +11,6 @@
   <group ns="$(arg arm_id)">
     <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
     <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="model_example_controller --shutdown-timeout 2"/>
-    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_description)/rviz/franka_description.rviz"/>
+    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
   </group>
 </launch>
diff --git a/franka_example_controllers/launch/robot.rviz b/franka_example_controllers/launch/robot.rviz
new file mode 100644
index 0000000000000000000000000000000000000000..07c4f7ffe621006022132808b51562feab5a9c86
--- /dev/null
+++ b/franka_example_controllers/launch/robot.rviz
@@ -0,0 +1,187 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 89
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 746
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679016
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.0299999993
+        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_hand:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        panda_leftfinger:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        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
+        panda_rightfinger:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: panda_link0
+    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
+      Topic: /initialpose
+    - 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: 3.39362764
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.139062241
+        Y: 0.151414081
+        Z: 0.0437288694
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.0500000007
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.00999999978
+      Pitch: 0.485397696
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.500398219
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1059
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000384fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006f00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004100000384000000f300fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000384fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000004100000384000000bb00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000077e0000003efc0100000002fb0000000800540069006d006501000000000000077e0000027600fffffffb0000000800540069006d00650100000000000004500000000000000000000004f90000038400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1918
+  X: 1920
+  Y: 19