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When I run the viewer, I get "No tf data. Actual error: Fixed Frame [velodyne] does not exist". I get no points on the screen. Any idea ?
- You can try rosrun tf static_transform_publisher 0 0 0 0 0 0 base_link velodyne 10. This worked for me. If you have extrinsic data you may input those here. Furthermore select velodyne as fixed frame in rviz.

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