diff --git a/Tools/sitl_run.sh b/Tools/sitl_run.sh
index 954119e89ad..703d03ed2ea 100755
--- a/Tools/sitl_run.sh
+++ b/Tools/sitl_run.sh
@@ -48,6 +48,20 @@ then
 	model="iris"
 fi
 
+# check replay mode
+if [ "$replay_mode" == "ekf2" ]
+then
+	model="iris_replay"
+	# create the publisher rules
+	mkdir -p $rootfs
+	publisher_rules_file="$rootfs/orb_publisher.rules"
+	cat <<EOF > "$publisher_rules_file"
+restrict_topics: sensor_combined, vehicle_gps_position, vehicle_land_detected
+module: replay
+ignore_others: false
+EOF
+fi
+
 if [ "$#" -lt 7 ]
 then
 	echo usage: sitl_run.sh rc_script rcS_dir debugger program model src_path build_path
diff --git a/posix-configs/SITL/init/ekf2/iris_replay b/posix-configs/SITL/init/ekf2/iris_replay
new file mode 100644
index 00000000000..79977ce79a6
--- /dev/null
+++ b/posix-configs/SITL/init/ekf2/iris_replay
@@ -0,0 +1,7 @@
+uorb start
+
+ekf2 start --replay
+logger start -e -t -b 1000 -p vehicle_attitude
+sleep 0.2
+replay start -m ekf2
+