lvi-sam/launch/include/module_rviz.launch

<launch>

    <arg name="project" default="lvi_sam"/>

    <!--- Run Rviz-->
    <node pkg="rviz" type="rviz" name="$(arg project)_rviz" args="-d $(find lvi_sam)/launch/include/config/rviz.rviz" />

</launch>