diff --git a/.github/workflows/build-ros.yml b/.github/workflows/build-ros.yml
index b1a8336..a042fbd 100644
--- a/.github/workflows/build-ros.yml
+++ b/.github/workflows/build-ros.yml
@@ -57,4 +57,4 @@ jobs:
         run: |
           . /opt/ros/*/setup.sh
           env
-          MAKEFLAGS="-j2" colcon build --symlink-install --parallel-workers 2 --event-handlers console_direct+
+          MAKEFLAGS="-j2" colcon build --symlink-install --parallel-workers 2 --event-handlers console_direct+
\ No newline at end of file
diff --git a/mrpt_pf_localization/CMakeLists.txt b/mrpt_pf_localization/CMakeLists.txt
index 94d64fa..546ac45 100644
--- a/mrpt_pf_localization/CMakeLists.txt
+++ b/mrpt_pf_localization/CMakeLists.txt
@@ -15,6 +15,8 @@ find_package(sensor_msgs REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
 find_package(mp2p_icp_map REQUIRED)
 find_package(mp2p_icp_filters REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
 find_package(mola_relocalization) # OPTIONAL
 
 find_package(mrpt-ros2bridge REQUIRED)
@@ -42,14 +44,15 @@ message(STATUS "mola_relocalization_FOUND: ${mola_relocalization_FOUND}")
 ###########
 
 # non-ROS C++ library:
-add_library(${PROJECT_NAME}_core
+add_library(${PROJECT_NAME}_core SHARED
     src/${PROJECT_NAME}/${PROJECT_NAME}_core.cpp
     include/${PROJECT_NAME}/${PROJECT_NAME}_core.h
 )
 
 target_include_directories(${PROJECT_NAME}_core
     PUBLIC
-    include
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/>  
+    $<INSTALL_INTERFACE:include/>
 )
 
 target_link_libraries(${PROJECT_NAME}_core
@@ -69,12 +72,13 @@ endif()
 
 # ROS node:
 add_executable(${PROJECT_NAME}_node
-    src/${PROJECT_NAME}_node.cpp
+    src/main.cpp
     include/${PROJECT_NAME}_node.h
 )
 
 ament_target_dependencies(${PROJECT_NAME}_node
     rclcpp
+    rclcpp_components
     geometry_msgs
     mrpt_msgs
     mrpt_msgs_bridge
@@ -98,16 +102,60 @@ target_link_libraries(${PROJECT_NAME}_node
   mrpt::ros2bridge
 )
 
+#######################
+# ROS composable node #
+#######################
+
+add_library(${PROJECT_NAME}_component SHARED
+    src/${PROJECT_NAME}_component.cpp
+    include/${PROJECT_NAME}_node.h
+)
+
+ament_target_dependencies(${PROJECT_NAME}_component
+    rclcpp
+    rclcpp_components
+    geometry_msgs
+    mrpt_msgs
+    mrpt_msgs_bridge
+    nav_msgs
+    pose_cov_ops
+    sensor_msgs
+    tf2
+    tf2_geometry_msgs
+)
+
+target_include_directories(${PROJECT_NAME}_component
+    PRIVATE
+    include
+)
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(${PROJECT_NAME}_component
+  ${PROJECT_NAME}_core
+  mrpt::gui
+  mrpt::slam
+  mrpt::ros2bridge
+)
+
+rclcpp_components_register_node(
+    ${PROJECT_NAME}_component
+    PLUGIN "PFLocalizationNode"
+    EXECUTABLE ${PROJECT_NAME}_composable
+)
+
+ament_export_targets(export_${PROJECT_NAME})
+
 #############
 ## Install ##
 #############
 
-install(
-  TARGETS
-    ${PROJECT_NAME}_core
-    ${PROJECT_NAME}_node
-  DESTINATION
-    lib/${PROJECT_NAME}
+install(TARGETS ${PROJECT_NAME}_component ${PROJECT_NAME}_core ${PROJECT_NAME}_node
+        EXPORT export_${PROJECT_NAME}
+        ARCHIVE DESTINATION lib
+        LIBRARY DESTINATION lib
+        RUNTIME DESTINATION bin
+        DESTINATION
+          lib/${PROJECT_NAME}
 )
 
 install(
@@ -115,7 +163,6 @@ install(
   DESTINATION share/${PROJECT_NAME}
 )
 
-
 ament_export_dependencies()
 
 if(BUILD_TESTING)
diff --git a/mrpt_pf_localization/launch/localization.launch.py b/mrpt_pf_localization/launch/localization.launch.py
index 17482a9..3b88d3c 100644
--- a/mrpt_pf_localization/launch/localization.launch.py
+++ b/mrpt_pf_localization/launch/localization.launch.py
@@ -10,9 +10,11 @@
 from launch import LaunchDescription
 from launch.substitutions import TextSubstitution
 from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node
+from launch_ros.actions import Node, LoadComposableNodes
+from launch_ros.descriptions import ComposableNode
 from launch.actions import (DeclareLaunchArgument,
                             EmitEvent, LogInfo, RegisterEventHandler)
+from launch.conditions import IfCondition, UnlessCondition
 from launch.event_handlers import OnProcessExit
 from launch.events import Shutdown
 from ament_index_python import get_package_share_directory
@@ -25,6 +27,8 @@ def generate_launch_description():
     pfLocDir = get_package_share_directory("mrpt_pf_localization")
     # print('pfLocDir       : ' + pfLocDir)
 
+    use_composable = LaunchConfiguration('use_composable')
+
     pf_params_file_launch_arg = DeclareLaunchArgument(
         "pf_params_file", default_value=TextSubstitution(
             text=os.path.join(pfLocDir, 'params', 'default.config.yaml')))
@@ -84,7 +88,13 @@ def generate_launch_description():
         description="Whether to show a custom UI with details on the PF status"
     )
 
+    container_name_arg = DeclareLaunchArgument(
+        'container_name',
+        default_value='',
+    )
+
     pf_localization_node = Node(
+        condition=UnlessCondition(use_composable),
         package='mrpt_pf_localization',
         executable='mrpt_pf_localization_node',
         name='mrpt_pf_localization_node',
@@ -106,7 +116,33 @@ def generate_launch_description():
                    LaunchConfiguration('log_level')]
     )
 
+    composable_pf_localization_node = LoadComposableNodes(
+        condition=IfCondition(use_composable),
+        target_container=LaunchConfiguration('container_name'),
+        composable_node_descriptions=[
+            ComposableNode(
+                package='mrpt_pf_localization',
+                name='mrpt_pf_localization_component',
+                plugin='PFLocalizationNode',
+                parameters=[
+                    LaunchConfiguration('pf_params_file'),
+                    {
+                        "topic_sensors_2d_scan": LaunchConfiguration('topic_sensors_2d_scan'),
+                        "topic_sensors_point_clouds": LaunchConfiguration('topic_sensors_point_clouds'),
+                        "topic_gnss": LaunchConfiguration('topic_gnss'),
+                        "relocalization_params_file": LaunchConfiguration('relocalization_params_file'),
+                        "gui_enable": LaunchConfiguration('gui_enable'),
+                        "log_level_core": LaunchConfiguration('log_level_core'),
+                        "base_link_frame_id": LaunchConfiguration('base_link_frame_id'),
+                        "odom_frame_id": LaunchConfiguration('odom_frame_id'),
+                        "global_frame_id": LaunchConfiguration('global_frame_id'),
+                    }]
+            )
+        ]
+    )
+
     ld = LaunchDescription([
+        container_name_arg,
         pf_log_level_launch_arg,
         pf_log_level_core_launch_arg,
         relocalization_params_file_launch_arg,
@@ -119,6 +155,7 @@ def generate_launch_description():
         odom_frame_id_arg,
         global_frame_id_arg,
         pf_localization_node,
+        composable_pf_localization_node,
         RegisterEventHandler(
             OnProcessExit(
                 target_action=pf_localization_node,
diff --git a/mrpt_pf_localization/package.xml b/mrpt_pf_localization/package.xml
index ba95ac3..1c088d2 100644
--- a/mrpt_pf_localization/package.xml
+++ b/mrpt_pf_localization/package.xml
@@ -36,6 +36,8 @@
   <depend>std_msgs</depend>
   <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
 
   <depend>ament_cmake_lint_cmake</depend>
   <depend>ament_cmake_xmllint</depend>
diff --git a/mrpt_pf_localization/src/main.cpp b/mrpt_pf_localization/src/main.cpp
new file mode 100644
index 0000000..9494769
--- /dev/null
+++ b/mrpt_pf_localization/src/main.cpp
@@ -0,0 +1,19 @@
+/* +------------------------------------------------------------------------+
+   |                             mrpt_navigation                            |
+   |                                                                        |
+   | Copyright (c) 2014-2024, Individual contributors, see commit authors   |
+   | See: https://github.com/mrpt-ros-pkg/mrpt_navigation                   |
+   | All rights reserved. Released under BSD 3-Clause license. See LICENSE  |
+   +------------------------------------------------------------------------+ */
+
+#include "rclcpp/rclcpp.hpp"
+#include "mrpt_pf_localization_component.cpp"
+
+int main(int argc, char** argv)
+{
+	rclcpp::init(argc, argv);
+	auto node = std::make_shared<PFLocalizationNode>();
+	rclcpp::spin(std::dynamic_pointer_cast<rclcpp::Node>(node));
+	rclcpp::shutdown();
+	return 0;
+}
\ No newline at end of file
diff --git a/mrpt_pf_localization/src/mrpt_pf_localization_node.cpp b/mrpt_pf_localization/src/mrpt_pf_localization_component.cpp
similarity index 99%
rename from mrpt_pf_localization/src/mrpt_pf_localization_node.cpp
rename to mrpt_pf_localization/src/mrpt_pf_localization_component.cpp
index 1e021ad..c327255 100644
--- a/mrpt_pf_localization/src/mrpt_pf_localization_node.cpp
+++ b/mrpt_pf_localization/src/mrpt_pf_localization_component.cpp
@@ -27,6 +27,8 @@
 #include <mrpt/version.h>
 #include <pose_cov_ops/pose_cov_ops.h>
 
+#include "rclcpp_components/register_node_macro.hpp"
+
 #include <geometry_msgs/msg/pose_array.hpp>
 #include <mrpt_msgs_bridge/beacon.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
@@ -45,14 +47,7 @@ std::string hyperlink(
 }  // namespace mrpt::system
 #endif
 
-int main(int argc, char** argv)
-{
-	rclcpp::init(argc, argv);
-	auto node = std::make_shared<PFLocalizationNode>();
-	rclcpp::spin(std::dynamic_pointer_cast<rclcpp::Node>(node));
-	rclcpp::shutdown();
-	return 0;
-}
+RCLCPP_COMPONENTS_REGISTER_NODE(PFLocalizationNode); //Register node to make it composable
 
 PFLocalizationNode::PFLocalizationNode(const rclcpp::NodeOptions& options)
 	: rclcpp::Node("mrpt_pf_localization_node", options)
diff --git a/mrpt_pointcloud_pipeline/CMakeLists.txt b/mrpt_pointcloud_pipeline/CMakeLists.txt
index 2c79bfd..30dda34 100644
--- a/mrpt_pointcloud_pipeline/CMakeLists.txt
+++ b/mrpt_pointcloud_pipeline/CMakeLists.txt
@@ -42,8 +42,8 @@ ENDIF()
 find_package(mp2p_icp_filters REQUIRED)
 
 add_executable(${PROJECT_NAME}_node
-              src/mrpt_pointcloud_pipeline_node.cpp
-              include/mrpt_pointcloud_pipeline/mrpt_pointcloud_pipeline_node.h)
+              src/main.cpp
+              include/${PROJECT_NAME}/mrpt_pointcloud_pipeline_node.h)
 
 target_include_directories(${PROJECT_NAME}_node
                            PUBLIC
@@ -70,8 +70,55 @@ ament_target_dependencies(
   tf2_geometry_msgs
 )
 
+###################
+# Composable node #
+###################
 
-install(TARGETS ${PROJECT_NAME}_node
+add_library(${PROJECT_NAME}_component SHARED
+              src/${PROJECT_NAME}_component.cpp
+              include/${PROJECT_NAME}/${PROJECT_NAME}_node.h)
+
+target_include_directories(${PROJECT_NAME}_component
+                           PUBLIC
+                            $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+                            $<INSTALL_INTERFACE:include>
+)
+
+target_link_libraries(
+  ${PROJECT_NAME}_component
+  mrpt::maps
+  mrpt::obs
+  mrpt::gui
+  mrpt::ros2bridge
+  mola::mp2p_icp_filters
+)
+
+ament_target_dependencies(
+  ${PROJECT_NAME}_component
+  rclcpp
+  rclcpp_components
+  nav_msgs
+  sensor_msgs
+  tf2
+  tf2_geometry_msgs
+)
+
+rclcpp_components_register_node(
+    ${PROJECT_NAME}_component
+    PLUGIN "LocalObstaclesNode"
+    EXECUTABLE ${PROJECT_NAME}_composable
+)
+
+###########
+# INSTALL #
+###########
+
+install(TARGETS ${PROJECT_NAME}_component 
+                ${PROJECT_NAME}_node
+  EXPORT export_${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
   DESTINATION lib/${PROJECT_NAME}
 )
 
diff --git a/mrpt_pointcloud_pipeline/launch/pointcloud_pipeline.launch.py b/mrpt_pointcloud_pipeline/launch/pointcloud_pipeline.launch.py
index f154839..8a8e9d4 100644
--- a/mrpt_pointcloud_pipeline/launch/pointcloud_pipeline.launch.py
+++ b/mrpt_pointcloud_pipeline/launch/pointcloud_pipeline.launch.py
@@ -10,8 +10,10 @@
 from launch import LaunchDescription
 from launch.substitutions import TextSubstitution
 from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node
+from launch_ros.actions import Node, LoadComposableNodes
+from launch_ros.descriptions import ComposableNode
 from launch.actions import DeclareLaunchArgument, Shutdown
+from launch.conditions import IfCondition, UnlessCondition
 from ament_index_python import get_package_share_directory
 from launch.actions import GroupAction
 from launch_ros.actions import PushRosNamespace
@@ -22,6 +24,8 @@ def generate_launch_description():
     myPkgDir = get_package_share_directory("mrpt_pointcloud_pipeline")
     # print('myPkgDir       : ' + myPkgDir)
 
+    use_composable = LaunchConfiguration('use_composable')
+
     lidar_topic_name_arg = DeclareLaunchArgument(
         'scan_topic_name',
         default_value=''  # /scan, /laser1, etc.
@@ -72,9 +76,15 @@ def generate_launch_description():
         description="Logging level"
     )
 
+    container_name_arg = DeclareLaunchArgument(
+        'container_name',
+        default_value='',
+    )
+
     emit_shutdown_action = Shutdown(reason='launch is shutting down')
 
     mrpt_pointcloud_pipeline_node = Node(
+        condition=UnlessCondition(use_composable),
         package='mrpt_pointcloud_pipeline',
         executable='mrpt_pointcloud_pipeline_node',
         name='mrpt_pointcloud_pipeline_node',
@@ -101,7 +111,32 @@ def generate_launch_description():
         on_exit=[emit_shutdown_action]
     )
 
+    composable_mrpt_pointcloud_pipeline = LoadComposableNodes(
+        condition=IfCondition(use_composable),
+        target_container=LaunchConfiguration('container_name'),
+        composable_node_descriptions=[
+            ComposableNode(
+                package='mrpt_pointcloud_pipeline',
+                name='mrpt_pointcloud_pipeline_component',
+                plugin='LocalObstaclesNode',
+                parameters=[
+                    {'source_topics_2d_scans': LaunchConfiguration('scan_topic_name')},
+                    {'source_topics_pointclouds': LaunchConfiguration('points_topic_name')},
+                    {'show_gui': LaunchConfiguration('show_gui')},
+                    {'pipeline_yaml_file': LaunchConfiguration('pipeline_yaml_file')},
+                    {'filter_output_layer_name': LaunchConfiguration('filter_output_layer_name')},
+                    {'time_window': LaunchConfiguration('time_window')},
+                    {'topic_local_map_pointcloud': LaunchConfiguration('filter_output_topic_name')},
+                    {'frameid_reference': LaunchConfiguration('frameid_reference')},
+                    {'frameid_robot': LaunchConfiguration('frameid_robot')},
+                    {'one_observation_per_topic': LaunchConfiguration('one_observation_per_topic')},
+                ],
+            )
+        ]
+    )
+
     ld = LaunchDescription([
+        container_name_arg,
         lidar_topic_name_arg,
         points_topic_name_arg,
         show_gui_arg,
@@ -114,6 +149,7 @@ def generate_launch_description():
         log_level_launch_arg,
         one_observation_per_topic_arg,
         mrpt_pointcloud_pipeline_node,
+        composable_mrpt_pointcloud_pipeline,
     ])
 
     # Namespace to avoid clash launch argument names with the parent scope:
diff --git a/mrpt_pointcloud_pipeline/src/main.cpp b/mrpt_pointcloud_pipeline/src/main.cpp
new file mode 100644
index 0000000..dfb0c3a
--- /dev/null
+++ b/mrpt_pointcloud_pipeline/src/main.cpp
@@ -0,0 +1,23 @@
+/* +------------------------------------------------------------------------+
+   |                             mrpt_navigation                            |
+   |                                                                        |
+   | Copyright (c) 2014-2024, Individual contributors, see commit authors   |
+   | See: https://github.com/mrpt-ros-pkg/mrpt_navigation                   |
+   | All rights reserved. Released under BSD 3-Clause license. See LICENSE  |
+   +------------------------------------------------------------------------+ */
+
+#include "rclcpp/rclcpp.hpp"
+#include "mrpt_pointcloud_pipeline_component.cpp"
+
+int main(int argc, char** argv)
+{
+	rclcpp::init(argc, argv);
+
+	auto node = std::make_shared<LocalObstaclesNode>();
+
+	rclcpp::spin(node->get_node_base_interface());
+
+	rclcpp::shutdown();
+
+	return 0;
+}
\ No newline at end of file
diff --git a/mrpt_pointcloud_pipeline/src/mrpt_pointcloud_pipeline_node.cpp b/mrpt_pointcloud_pipeline/src/mrpt_pointcloud_pipeline_component.cpp
similarity index 98%
rename from mrpt_pointcloud_pipeline/src/mrpt_pointcloud_pipeline_node.cpp
rename to mrpt_pointcloud_pipeline/src/mrpt_pointcloud_pipeline_component.cpp
index 6f9ee57..9df226b 100644
--- a/mrpt_pointcloud_pipeline/src/mrpt_pointcloud_pipeline_node.cpp
+++ b/mrpt_pointcloud_pipeline/src/mrpt_pointcloud_pipeline_component.cpp
@@ -12,7 +12,7 @@
 #include <sstream>
 
 // for now, not needed (node=executable)
-// #include "rclcpp_components/register_node_macro.hpp"
+#include "rclcpp_components/register_node_macro.hpp"
 
 using namespace mrpt::system;
 using namespace mrpt::config;
@@ -21,7 +21,7 @@ using namespace mrpt::maps;
 using namespace mrpt::obs;
 
 LocalObstaclesNode::LocalObstaclesNode(const rclcpp::NodeOptions& options)
-	: Node("mrpt_pointcloud_pipeline", options)
+	:Node("mrpt_pointcloud_pipeline_node", options)
 {
 	m_profiler.setName(Node::get_name());
 
@@ -571,15 +571,4 @@ void LocalObstaclesNode::read_parameters()
 	}
 }
 
-int main(int argc, char** argv)
-{
-	rclcpp::init(argc, argv);
-
-	auto node = std::make_shared<LocalObstaclesNode>();
-
-	rclcpp::spin(node);
-
-	rclcpp::shutdown();
-
-	return 0;
-}
+RCLCPP_COMPONENTS_REGISTER_NODE(LocalObstaclesNode);
\ No newline at end of file
diff --git a/mrpt_tutorials/launch/demo_composable_nodes.launch.py b/mrpt_tutorials/launch/demo_composable_nodes.launch.py
new file mode 100644
index 0000000..f6eba5d
--- /dev/null
+++ b/mrpt_tutorials/launch/demo_composable_nodes.launch.py
@@ -0,0 +1,120 @@
+# ROS 2 launch file for example in mrpt_tutorials
+#
+# See repo online: https://github.com/mrpt-ros-pkg/mrpt_navigation
+#
+
+from launch import LaunchDescription
+from launch.substitutions import TextSubstitution
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node, ComposableNodeContainer
+from launch.conditions import IfCondition
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from ament_index_python import get_package_share_directory
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+import os
+
+
+def generate_launch_description():
+    tutsDir = get_package_share_directory("mrpt_tutorials")
+    # print('tutsDir       : ' + tutsDir)
+
+    use_composable = LaunchConfiguration('use_composable')
+
+    use_composable_arg = DeclareLaunchArgument(
+        'use_composable',
+        default_value='false',
+    )
+
+    container = ComposableNodeContainer(
+        condition = IfCondition(use_composable),
+        name='demo_composable_container',
+        package = 'rclcpp_components',
+        executable = 'component_container',
+        namespace = '',
+        output = 'screen',
+    )
+
+    mrpt_map_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([os.path.join(
+            get_package_share_directory('mrpt_map_server'), 'launch',
+            'mrpt_map_server.launch.py')]),
+        launch_arguments={
+            'map_yaml_file': os.path.join(tutsDir, 'maps', 'demo_world2.yaml'),
+        }.items()
+    )
+
+    mvsim_node = Node(
+        package='mvsim',
+        executable='mvsim_node',
+        name='mvsim',
+        output='screen',
+        parameters=[
+            # os.path.join(tutsDir, 'params', 'mvsim_ros2_params.yaml'),
+            {
+                "world_file": os.path.join(tutsDir, 'mvsim', 'demo_world2.world.xml'),
+                "do_fake_localization": True,
+                "headless": True,
+            }]
+    )
+
+    # Launch for mrpt_pointcloud_pipeline:
+    pointcloud_pipeline_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([os.path.join(
+            get_package_share_directory('mrpt_pointcloud_pipeline'), 'launch',
+            'pointcloud_pipeline.launch.py')]),
+        launch_arguments={
+            #
+            'use_composable': LaunchConfiguration('use_composable'),
+            'container_name': 'demo_composable_container',
+            #
+            'log_level': 'INFO',
+            'scan_topic_name': '/laser1, /laser2',
+            'points_topic_name': '/lidar1_points',
+            'filter_output_topic_name': '/local_map_pointcloud',
+            'time_window': '0.20',
+            'show_gui': 'False',
+            'frameid_robot': 'base_link',
+            'frameid_reference': 'odom',
+        }.items()
+    )
+
+    # Launch for pf_localization:
+    pf_localization_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([os.path.join(
+            get_package_share_directory('mrpt_pf_localization'), 'launch',
+            'localization.launch.py')]),
+        launch_arguments={
+            #
+            'use_composable': LaunchConfiguration('use_composable'),
+            'container_name': 'demo_composable_container',
+            #
+            'log_level': 'INFO',
+            'log_level_core': 'INFO',
+            'topic_sensors_2d_scan': '/laser1',
+            'topic_sensors_point_clouds': '',
+
+            # For robots with wheels odometry, use:     'base_link'-> 'odom'      -> 'map'
+            # For systems without wheels odometry, use: 'base_link'-> 'base_link' -> 'map'
+            'base_link_frame_id': 'base_link',
+            'odom_frame_id': 'odom',
+            'global_frame_id': 'map',
+        }.items()
+    )
+
+    rviz2_node = Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        arguments=[
+                '-d', [os.path.join(tutsDir, 'rviz2', 'gridmap.rviz')]]
+    )
+
+    return LaunchDescription([
+        use_composable_arg,
+        container,
+        mrpt_map_launch,
+        pf_localization_launch,
+        mvsim_node,
+        pointcloud_pipeline_launch,
+        rviz2_node,
+    ])