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It looks like the 3D viewing window in rviz isn't working properly, or the pointcloud isn't within your field of view.

I would try rotating the view to see if your pointcloud is somewhere else, and I would check that your graphics drivers are installed properly. See: http://ros.org/wiki/rviz/Troubleshooting

Note that rviz has fairly high graphics requirements, and doesn't usually work when run on an integrated chipset or within a virtual machine.