diff --git a/launch/tier4_autoware_api_launch/launch/autoware_api.launch.xml b/launch/tier4_autoware_api_launch/launch/autoware_api.launch.xml
index a98ac01548732..1feed0327ef4d 100644
--- a/launch/tier4_autoware_api_launch/launch/autoware_api.launch.xml
+++ b/launch/tier4_autoware_api_launch/launch/autoware_api.launch.xml
@@ -3,13 +3,15 @@
   <arg name="launch_image_base64_converter" default="false"/>
   <arg name="launch_path_distance_calculator" default="false"/>
   <arg name="launch_default_ad_api" default="true"/>
+  <arg name="launch_rviz_adaptors" default="true"/>
   <!-- external api adaptor -->
   <arg name="launch_calibration_status_api" default="false"/>
   <arg name="launch_start_api" default="true"/>
 
   <!-- AD API -->
-  <group if="$(var launch_default_ad_api)">
-    <include file="$(find-pkg-share default_ad_api)/launch/default_ad_api.launch.py"/>
+  <group>
+    <include file="$(find-pkg-share default_ad_api)/launch/default_ad_api.launch.py" if="$(var launch_default_ad_api)"/>
+    <include file="$(find-pkg-share ad_api_adaptors)/launch/rviz_adaptors.launch.xml" if="$(var launch_rviz_adaptors)"/>
   </group>
 
   <!-- awapi (deprecated) -->
diff --git a/launch/tier4_autoware_api_launch/package.xml b/launch/tier4_autoware_api_launch/package.xml
index 9b7abb00a8c91..bae6cf02197f3 100644
--- a/launch/tier4_autoware_api_launch/package.xml
+++ b/launch/tier4_autoware_api_launch/package.xml
@@ -12,6 +12,7 @@
 
   <build_depend>autoware_cmake</build_depend>
 
+  <exec_depend>ad_api_adaptors</exec_depend>
   <exec_depend>autoware_iv_external_api_adaptor</exec_depend>
   <exec_depend>autoware_iv_internal_api_adaptor</exec_depend>
   <exec_depend>awapi_awiv_adapter</exec_depend>