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There's a couple things to check for: First, when you rostopic echo your pointcloud, Do you see data there? And what is the frame_id in the header? If you see data there, you can tell rviz to show everything in the frame of your point cloud (probably velodyne), which should work. You can select which frame to display things in from the Global Options -> Fixed Frame field in rviz.

It also appears that you don't have a /robot_state_publisher running at all, and you don't have anything publishing tfs. What is the output of rostopic info /tf_static? Is anything publishing static tfs? If not, that explains why rviz didn't display anything, because it didn't know how to translate from it's main display frame to velodyne frame.