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This is a transform problem. The laser measurements are published in the base_laser coordinate frame, but rviz is trying to display them in the "laser" or "map" coordinate frame. Set your fixed frame to "base_laser" and you should see the data displayed. If you want to use another frame you need to make sure TF transforms are published to connect base_laser to your other frames (for instance by using http://wiki.ros.org/robot_state_publisher and a urdf)