diff --git a/Multi-Objects-2D-renderer.md b/Multi-Objects-2D-renderer.md
index 301f407..282b679 100644
--- a/Multi-Objects-2D-renderer.md
+++ b/Multi-Objects-2D-renderer.md
@@ -14,6 +14,16 @@ To run the example:
 
 You should get a result similar to [this video](https://youtu.be/Yre8iS2LqPc).
 
+To visualize the output of the simulator, you can open `rviz` (from a new terminal) as follows:
+
+    roscd esim_visualization
+    rviz -d cfg/esim.rviz
+
+You can also open `rqt` for more visualizations, as follows:
+
+    roscd esim_visualization
+    rqt --perspective-file cfg/esim.perspective
+
 ## Format of a `scene` file
 
 The configuration of this rendering engine can be set through a `scene` file (example [here](https://github.com/uzh-rpg/rpg_esim/blob/master/event_camera_simulator/imp/imp_multi_objects_2d/scenes/example.scene)).