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For a launch file:

<node pkg="rviz" type="rviz" name="rviz" args="-d $(find my_package)/path_to_config/config.rviz"/>

For a launch file:

<node pkg="rviz" type="rviz" name="rviz" args="-d $(find my_package)/path_to_config/config.rviz"/>
my_pkg)/path_to_config/config.rviz"/>