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For reference, put it alongside rviz in a launcher like this:

<launch>
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find gopher_meta)/rviz/view_navigation.rviz">
    <remap from="initialpose" to="/initialpose"/>
  </node>
  <node name="voxel_grid_2_point_cloud" pkg="costmap_2d" type="costmap_2d_cloud">
    <remap from="voxel_grid" to="/move_base/local_costmap/obstacle_layer/voxel_grid"/>
    <remap from="voxel_marked_cloud" to="/move_base/local_costmap/obstacle_layer/marked_cloud"/>
    <remap from="voxel_unknown_cloud" to="/move_base/local_costmap/obstacle_layer/unknown_cloud"/>
  </node>
</launch>

Voxel clouds are of 'PointCloud' type (not PointCloud2).

For reference, put it alongside rviz in a launcher like this:

<launch>
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find gopher_meta)/rviz/view_navigation.rviz">
gopher)/rviz/view_navigation.rviz">
    <remap from="initialpose" to="/initialpose"/>
  </node>
  <node name="voxel_grid_2_point_cloud" pkg="costmap_2d" type="costmap_2d_cloud">
    <remap from="voxel_grid" to="/move_base/local_costmap/obstacle_layer/voxel_grid"/>
    <remap from="voxel_marked_cloud" to="/move_base/local_costmap/obstacle_layer/marked_cloud"/>
    <remap from="voxel_unknown_cloud" to="/move_base/local_costmap/obstacle_layer/unknown_cloud"/>
  </node>
</launch>

Voxel clouds are of 'PointCloud' type (not PointCloud2).