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You need to restart RViz _whenever you start a new roscore_. RViz looks for a roscore upon startup. After that time, the roscore remains fixed.

This means that if you are using a launch file to launch everything, including the ROS Master, then whenever you relaunch the file you will also need to relaunch RViz. A better way to use RViz is to launch your roscore and RViz separately. Then you can keep them both open for the duration of your session.

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