diff --git a/launch/display_highbay_swarm.launch b/launch/display_highbay_swarm.launch
new file mode 100644
index 0000000..98428c6
--- /dev/null
+++ b/launch/display_highbay_swarm.launch
@@ -0,0 +1,8 @@
+<launch>
+  <node name="RVizMeshVisualizer" pkg="object_visualizer" type="object_visualizer.py" output="screen">
+      <rosparam param="frame" subst_value="True">map</rosparam>
+      <rosparam param="visualizer_path" subst_value="True">$(find lab_gazebo)/worlds/highbay_swarm_world/meshes</rosparam>
+  </node>
+  
+  <node type="rviz" name="rviz" pkg="rviz" args="-d $(find object_visualizer)/launch/visualization.rviz" />
+</launch>
diff --git a/launch/display_with_params.launch b/launch/display_with_params.launch
new file mode 100644
index 0000000..105586b
--- /dev/null
+++ b/launch/display_with_params.launch
@@ -0,0 +1,12 @@
+<launch>
+  <arg name="node_start_delay" default="1.0" /> <!-- Delay of 5 seconds to let RViz come up -->
+  <arg name="frame" default="map" />
+  <arg name="visualizer_path" default="$(find object_visualizer)/meshes" />
+
+  <node name="object_visualizer" pkg="object_visualizer" type="object_visualizer.py" output="screen" launch-prefix="bash -c 'sleep $(arg node_start_delay); $0 $@'" >
+    <rosparam param="frame" subst_value="True">$(arg frame)</rosparam>
+    <rosparam param="visualizer_path" subst_value="True">$(arg visualizer_path)</rosparam>
+  </node>
+  
+  <node type="rviz" name="rviz" pkg="rviz" args="-d $(find object_visualizer)/launch/visualization.rviz" />
+</launch>
diff --git a/scripts/object_visualizer.py b/scripts/object_visualizer.py
index 07aa01b..cada6ff 100755
--- a/scripts/object_visualizer.py
+++ b/scripts/object_visualizer.py
@@ -5,10 +5,14 @@
 from visualization_msgs.msg import MarkerArray, Marker
 
 rospy.init_node("object_visualizer")
-rate = rospy.Rate(1)
+rate = rospy.Rate(0.5)
 rospy.loginfo('Initializing object visualizer')
 rp = rospkg.RosPack()
 visualizer_path = os.path.join(rp.get_path('object_visualizer'), 'meshes')
+
+visualizer_path = rospy.get_param("~visualizer_path", visualizer_path)
+frame = rospy.get_param("~frame", "map")
+
 markerArray = MarkerArray()
 
 publisher = rospy.Publisher('visualization_marker', MarkerArray, queue_size=1)
@@ -19,7 +23,7 @@
     if len(files) != current_file_count:  # if the number of valid meshed in the 'meshes' folder has changed
         if len(files) < current_file_count:  # if some markers are removed from the 'meshes' folder, delete them in RViz
             marker = Marker()
-            marker.header.frame_id = 'map'
+            marker.header.frame_id = frame
             marker.action = marker.DELETEALL # send the DELETEALL marker to delete all marker in RViz
             markerArray.markers.append(marker)
             publisher.publish(markerArray)
@@ -29,16 +33,16 @@
             rospy.loginfo('Loading file: %s', file)
             marker = Marker()
             marker.id = marker_id
-            marker.mesh_resource = 'package://object_visualizer/meshes/' + file
+            marker.mesh_resource = "file://" + visualizer_path + "/" + file
             marker.mesh_use_embedded_materials = True  # Need this to use textures for mesh
             marker.type = marker.MESH_RESOURCE
-            marker.header.frame_id = "map"
+            marker.header.frame_id = frame
             marker.scale.x = 1.0
             marker.scale.y = 1.0
             marker.scale.z = 1.0
             marker.pose.orientation.w = 1.0
             markerArray.markers.append(marker)
 
-    rospy.loginfo('Published %d objects. ', len(markerArray.markers))
+    # rospy.loginfo('Published %d objects. ', len(markerArray.markers))
     publisher.publish(markerArray)
     rate.sleep()