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The problem is due to the version of rviz. Rviz 1.9.34 seems to have problem to show laser scan and hence upgrading to Rviz 1.9.35 solve this problem. Manual upgrading of rviz can be done by git cloning ros visualization to your catkin workspace and git checkout 1.9.45 it. After that just catkin_make and it should be done. Closing this topic