diff --git a/moveit_configs_utils/moveit_configs_utils/launches.py b/moveit_configs_utils/moveit_configs_utils/launches.py
index fc6f4f3b4c..17ec72eb02 100644
--- a/moveit_configs_utils/moveit_configs_utils/launches.py
+++ b/moveit_configs_utils/moveit_configs_utils/launches.py
@@ -59,6 +59,7 @@ def generate_moveit_rviz_launch(moveit_config):
     rviz_parameters = [
         moveit_config.planning_pipelines,
         moveit_config.robot_description_kinematics,
+        moveit_config.joint_limits,
     ]
 
     add_debuggable_node(