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I had the same issue.

When changing to the Points, they are very large, and make the PC work extra hard. If other options are used (ex: squares, flat squares, spheres...) they are rendered in a greyish white. This is an RViz bug, but there is a workaround. See my answer to the same issue here: https://answers.ros.org/question/358930/pointcloud2-large-points/?answer=364514#post-id-364514. There are 2 solutions offered to keep you working.

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