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This is entirely normal behavior. After successfully launching, the terminal will not allow you enter additional commands, as the driver is still working - it is in fact in the actual data streaming loop.

In order to run additional commands (such as rostopic hz /camera/rgb/points or rosrun rviz rviz), you will have to open new terminal windows to enter them in.

If you are new to ROS, I suggest you go through the beginner tutorials to get a feel for how you normally start, interact with and write ROS nodes.