running humanoid_localization on rviz

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Hi, I am trying to bring up the humanoid_localization node. I have the following set up: 1. I am providing the laser scan data to the localization node by playing a rosbag file. 2. I have generated an octomap using the octomap_server, hence I am providing a static .bt map to the localization node. 3. However I cannot visualize both the map and the scan data together. My launch file looks like as shown below. How can i visualize this in Rviz together

<launch>

<node pkg="octomap_server" type="octomap_server_node" name="octomap_server" args="/home/xpraputs/catkin_ws/src/scanfiles/out.bt"> </node>

<node pkg="humanoid_localization" type="localization_node" name="humanoid_localization" output="screen" &gt;="" <rosparam="" file="$(find humanoid_localization)/config/nao_localization_laser.yaml" command="load"/> </node> <node pkg="rosbag" type="play" name="player" output="screen" args="--clock /home/xpraputs/catkin_ws/src/scanfiles/ros.bag"> <remap from="LaserScan203" to="scan"/> </node>

<node pkg="tf" type="static_transform_publisher" name="base_link_to_torso" args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /torso 100"/>

<node pkg="tf" type="static_transform_publisher" name="base_link_to_laser" args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /base_laser_link 100"/>

<node pkg="tf" type="static_transform_publisher" name="base_link_to_odom" args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /odom 100"/>

<node pkg="laser_scan_matcher" type="laser_scan_matcher_node" name="laser_scan_matcher_node" output="screen"> </node> </launch>

I get the following output: [RUNNING] Bag Time: 1359484605.159446 Duration: 102.670345 / 102.677771
Done.