Frontier exploration visualization in rviz

edit

Hi! I would build a map and I would visualize the obstacles in the map. I follow this steps:

$ roscore
$ rosrun xv_11_laser_driver neato_laser_publisher _port:=/dev/ttyUSB0 _firmware_version:=2
$ roslaunch hector_slam_launch slam.launch
$ roslaunch frontier_exploration move_base.launch
$ roslaunch frontier_exploration no_global_map.launch

I have any error but in rviz I don't see the obstacles or frontiers like in this video https://www.youtube.com/watch?v=eXUjo... What do I add in rviz's Displays? And what topic? Thank you!