diff --git a/hironx_ros_bridge/conf/nosim.xml.in b/hironx_ros_bridge/conf/nosim.xml.in
index b35a89ca..8e806bd2 100644
--- a/hironx_ros_bridge/conf/nosim.xml.in
+++ b/hironx_ros_bridge/conf/nosim.xml.in
@@ -23,6 +23,8 @@
    <property name="outport" value="tau:JOINT_TORQUE"/>
    <property name="outport" value="CAMERA_HEAD_R:CAMERA_HEAD_R:VISION_SENSOR"/>
    <property name="outport" value="CAMERA_HEAD_L:CAMERA_HEAD_L:VISION_SENSOR"/>
+   <property name="outport" value="CAMERA_HAND_R:CAMERA_HAND_R:VISION_SENSOR"/>
+   <property name="outport" value="CAMERA_HAND_L:CAMERA_HAND_L:VISION_SENSOR"/>
    <property name="WAIST.NumOfAABB" value="1"/>
    <property name="WAIST.translation" value="0  0  0"/>
    <property name="WAIST.rotation" value="1 0 0 0"/>
diff --git a/hironx_ros_bridge/conf/xml.in b/hironx_ros_bridge/conf/xml.in
index 6752ae11..31cc8a28 100644
--- a/hironx_ros_bridge/conf/xml.in
+++ b/hironx_ros_bridge/conf/xml.in
@@ -23,6 +23,8 @@
    <property name="outport" value="tau:JOINT_TORQUE"/>
    <property name="outport" value="CAMERA_HEAD_R:CAMERA_HEAD_R:VISION_SENSOR"/>
    <property name="outport" value="CAMERA_HEAD_L:CAMERA_HEAD_L:VISION_SENSOR"/>
+   <property name="outport" value="CAMERA_HAND_R:CAMERA_HAND_R:VISION_SENSOR"/>
+   <property name="outport" value="CAMERA_HAND_L:CAMERA_HAND_L:VISION_SENSOR"/>
    <property name="WAIST.NumOfAABB" value="1"/>
    <property name="WAIST.translation" value="0  0  0"/>
    <property name="WAIST.rotation" value="1 0 0 0"/>
diff --git a/hironx_ros_bridge/launch/hironx_ros_bridge_simulation.launch b/hironx_ros_bridge/launch/hironx_ros_bridge_simulation.launch
index d0627a83..821287c8 100644
--- a/hironx_ros_bridge/launch/hironx_ros_bridge_simulation.launch
+++ b/hironx_ros_bridge/launch/hironx_ros_bridge_simulation.launch
@@ -36,8 +36,20 @@
         args="$(arg openrtm_args)" ns="left" >
     <param name="frame_id" value="/CAMERA_HEAD_L" />
   </node>
+  <node pkg="hrpsys_ros_bridge" name="ImageSensorROSBridge_HandRight" type="ImageSensorROSBridge"
+        args="$(arg openrtm_args)" ns="right" >
+    <param name="frame_id" value="/CAMERA_HAND_R" />
+  </node>
+  <node pkg="hrpsys_ros_bridge" name="ImageSensorROSBridge_HandLeft" type="ImageSensorROSBridge"
+        args="$(arg openrtm_args)" ns="left" >
+    <param name="frame_id" value="/CAMERA_HAND_L" />
+  </node>
   <rtconnect from="HiroNX(Robot)0.rtc:CAMERA_HEAD_R" to="ImageSensorROSBridge_HeadRight.rtc:timedImage" />
   <rtconnect from="HiroNX(Robot)0.rtc:CAMERA_HEAD_L" to="ImageSensorROSBridge_HeadLeft.rtc:timedImage" />
+  <rtconnect from="HiroNX(Robot)0.rtc:CAMERA_HAND_R" to="ImageSensorROSBridge_HandRight.rtc:timedImage" />
+  <rtconnect from="HiroNX(Robot)0.rtc:CAMERA_HAND_L" to="ImageSensorROSBridge_HandLeft.rtc:timedImage" />
   <rtactivate component="ImageSensorROSBridge_HeadRight.rtc" />
   <rtactivate component="ImageSensorROSBridge_HeadLeft.rtc" />
+  <rtactivate component="ImageSensorROSBridge_HandRight.rtc" />
+  <rtactivate component="ImageSensorROSBridge_HandLeft.rtc" />
 </launch>
diff --git a/hironx_ros_bridge/launch/hironxo.rviz b/hironx_ros_bridge/launch/hironxo.rviz
new file mode 100644
index 00000000..23087f6f
--- /dev/null
+++ b/hironx_ros_bridge/launch/hironxo.rviz
@@ -0,0 +1,404 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded: ~
+      Splitter Ratio: 0.5
+    Tree Height: 572
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: Image_head_L
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        CHEST_JOINT0_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        HEAD_JOINT0_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        HEAD_JOINT1_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        LARM_JOINT0_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        LARM_JOINT1_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        LARM_JOINT2_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        LARM_JOINT3_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        LARM_JOINT4_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        LARM_JOINT5_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        LHAND_JOINT0_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        LHAND_JOINT1_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        LHAND_JOINT2_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        LHAND_JOINT3_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        Link Tree Style: Links in Alphabetic Order
+        RARM_JOINT0_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RARM_JOINT1_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RARM_JOINT2_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RARM_JOINT3_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RARM_JOINT4_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RARM_JOINT5_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RHAND_JOINT0_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RHAND_JOINT1_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RHAND_JOINT2_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RHAND_JOINT3_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        WAIST:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /left/image_raw
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image_head_L
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /hand_left/image_raw
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image_hand_L
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /hand_right/image_raw
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image_hand_R
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /right/image_raw
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image_head_R
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        CAMERA_HEAD_L:
+          Value: true
+        CAMERA_HEAD_R:
+          Value: true
+        CHEST_JOINT0_Link:
+          Value: true
+        HEAD_JOINT0_Link:
+          Value: true
+        HEAD_JOINT1_Link:
+          Value: true
+        LARM_JOINT0_Link:
+          Value: true
+        LARM_JOINT1_Link:
+          Value: true
+        LARM_JOINT2_Link:
+          Value: true
+        LARM_JOINT3_Link:
+          Value: true
+        LARM_JOINT4_Link:
+          Value: true
+        LARM_JOINT5_Link:
+          Value: true
+        LHAND_JOINT0_Link:
+          Value: true
+        LHAND_JOINT1_Link:
+          Value: true
+        LHAND_JOINT2_Link:
+          Value: true
+        LHAND_JOINT3_Link:
+          Value: true
+        RARM_JOINT0_Link:
+          Value: true
+        RARM_JOINT1_Link:
+          Value: true
+        RARM_JOINT2_Link:
+          Value: true
+        RARM_JOINT3_Link:
+          Value: true
+        RARM_JOINT4_Link:
+          Value: true
+        RARM_JOINT5_Link:
+          Value: true
+        RHAND_JOINT0_Link:
+          Value: true
+        RHAND_JOINT1_Link:
+          Value: true
+        RHAND_JOINT2_Link:
+          Value: true
+        RHAND_JOINT3_Link:
+          Value: true
+        WAIST:
+          Value: true
+        lhsensor:
+          Value: true
+        rhsensor:
+          Value: true
+      Marker Scale: 0.5
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        WAIST:
+          CHEST_JOINT0_Link:
+            HEAD_JOINT0_Link:
+              HEAD_JOINT1_Link:
+                CAMERA_HEAD_L:
+                  {}
+                CAMERA_HEAD_R:
+                  {}
+            LARM_JOINT0_Link:
+              LARM_JOINT1_Link:
+                LARM_JOINT2_Link:
+                  LARM_JOINT3_Link:
+                    LARM_JOINT4_Link:
+                      LARM_JOINT5_Link:
+                        LHAND_JOINT0_Link:
+                          LHAND_JOINT1_Link:
+                            {}
+                        LHAND_JOINT2_Link:
+                          LHAND_JOINT3_Link:
+                            {}
+                        lhsensor:
+                          {}
+            RARM_JOINT0_Link:
+              RARM_JOINT1_Link:
+                RARM_JOINT2_Link:
+                  RARM_JOINT3_Link:
+                    RARM_JOINT4_Link:
+                      RARM_JOINT5_Link:
+                        RHAND_JOINT0_Link:
+                          RHAND_JOINT1_Link:
+                            {}
+                        RHAND_JOINT2_Link:
+                          RHAND_JOINT3_Link:
+                            {}
+                        rhsensor:
+                          {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: WAIST
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 2.45081
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.06
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.109166
+        Y: -0.0194451
+        Z: 0.190724
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.650399
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.505404
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 775
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Image_hand_L:
+    collapsed: false
+  Image_hand_R:
+    collapsed: false
+  Image_head_L:
+    collapsed: false
+  Image_head_R:
+    collapsed: false
+  QMainWindow State: 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
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1122
+  X: 668
+  Y: 1233
diff --git a/hironx_ros_bridge/launch/rviz.launch b/hironx_ros_bridge/launch/rviz.launch
new file mode 100644
index 00000000..8b85147c
--- /dev/null
+++ b/hironx_ros_bridge/launch/rviz.launch
@@ -0,0 +1,12 @@
+<launch> 
+  <arg name="RVIZ_FIXEDFRAME" default="WAIST" />
+  <arg name="command_args" value="--fixed-frame $(arg RVIZ_FIXEDFRAME) -d $(find hironx_ros_bridge)/launch/hironxo.rviz" />
+  
+  <!-- Passing true to `debug` allows you to run this launch on gdb. -->
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
+
+  <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
+	args="$(arg command_args)" output="screen" />
+</launch>