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If you add a screenshot of rviz, we can probably help you debug why it isn't working. rviz also has a troubleshooting page that may be useful.

rviz really is the correct tool for visualizing data, because it understands the transform tree and can display different data sources in 3D, relative to one another.

If you just want to visualize your laser data to confirm that your laser is working, I wrote a simple laser viewer many years ago. I stopped using it once I discovered rviz.