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It depends on what ROS version you are using. If you are using ROS2 Foxy, do as follows

1. Create a file in the following path.

   ~/.config/autostart/rviz.desktop

2. Then, copy-paste the following to the file.

   [Desktop Entry] Type=Application Exec=/opt/ros/foxy/lib/rviz2/rviz2 Hidden=false NoDisplay=false X-GNOME-Autostart-enabled=true Name[en_US]=Rviz2 Name=/opt/ros/foxy/lib/rviz2/rviz2 Comment[en_US]= Comment=

3. Reboot

It depends on what ROS version you are using. If you are using ROS2 Foxy, do as follows

1. Create a file in the following path.

   ~/.config/autostart/rviz.desktop

2. Then, copy-paste the following to the file. (reference: link)

   [Desktop Entry] Type=Application Exec=/opt/ros/foxy/lib/rviz2/rviz2 Hidden=false NoDisplay=false X-GNOME-Autostart-enabled=true Name[en_US]=Rviz2 Name=/opt/ros/foxy/lib/rviz2/rviz2 Comment[en_US]= Comment=

3. Reboot