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I could generate 2.5D map simply subscribing height message and put it into base_link tf.

http://www.youtube.com/watch?list=UUUMq8_xIORNn1P_jkQ58vKQ&feature=player_detailpage&v=JoIcV92jEWc

Also, rviz provides colorized visualization for specified axis.

This is my vcg file.

    Background\ ColorR=0
  2 Background\ ColorG=0
  3 Background\ ColorB=0
  4 Fixed\ Frame=/map
  5 Target\ Frame=<Fixed Frame>
  6 Grid.Alpha=0.2
  7 Grid.Cell\ Size=1
  8 Grid.ColorR=1
  9 Grid.ColorG=1
 10 Grid.ColorB=1
 11 Grid.Enabled=1
 12 Grid.Line\ Style=0
 13 Grid.Line\ Width=0.03
 14 Grid.Normal\ Cell\ Count=0
 15 Grid.OffsetX=0
 16 Grid.OffsetY=0
 17 Grid.OffsetZ=0
 18 Grid.Plane=0
 19 Grid.Plane\ Cell\ Count=80
 20 Grid.Reference\ Frame=<Fixed Frame>
 21 Laser\ Scan.Alpha=1
 22 Laser\ Scan.Billboard\ Size=0.01
 23 Laser\ Scan.Color\ Transformer=Axis
 24 Laser\ Scan.Decay\ Time=100
 25 Laser\ Scan.Enabled=1
 26 Laser\ Scan.Position\ Transformer=XYZ
 27 Laser\ Scan.Selectable=1
 28 Laser\ Scan.Style=0
 29 Laser\ Scan.Topic=/scan

Cheers.