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Hi Hassan,

It's very simple, really. You'll want to add an RViz node tag inside your launch file. For example, in this launch file I created, you can see the tag after what is needed to launch a turtlebot3 simulation:

<launch>

    <!-- Launch Turtlebot3 World -->
    <include file="$(find turtlebot3_gazebo)/launch/turtlebot3_world.launch"/>
    <!-- Launch Turtlebot3 robot state publisher and joint state publisher -->
    <include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch"/>

    <!--Run Rviz-->
    <node name="rviz" pkg="rviz" type="rviz"/>

</launch>

This will automatically launch RViz as soon as you launch your simulate.launch file.

If you want to, you can go to the link below to check out a video I created explaining this with a specific example:

https://youtu.be/SowG_XziP3s

Cheers!

Rodrigo