I have a stream of point clouds that I would like to visualise all at once (like a map of sorts). I've already transformed the point clouds accordingly and now want to view the map as I move my camera. I am using the ROS laser_assembler package to assemble the point cloud messages from PointCloud messages.

I am not sure how to visualise this in RViz. Looking at the documentation, I don't see an topic that is publishing this aggregate point cloud. Any idea how to achieve this?