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Hi,

I read through the description of your problem and it reminded me of a similar situation I was stuck up in earlier. The solution i found was something to do with the frames settings in your rviz.

You need to check the fixed frame and the target frame that you have chosen in rviz. Your screenshot did not show the fixed frame. However, you can look at the dropdown box for other options of fixed frame and chose the one in which you would be able to see the rgb image output. You may do a trial and error to find the right one. Usually the fixed frame has to be something like

/camera/rgb_optical_frame or /camera/base_link

If you exactly know the various transforms published, you can directly type in the transform relevant to rgb frames in the fixed frame option.

As far as hanging of your system is concerned, remember that rviz and image topics always consume an ample amount of memory in order to run. Thus, it may get frozen sometimes when it runs out of memory. Always try to use a computer with a high configuration for rviz operations. Besides, you may want to run rviz with the --sync option, i.e.

rosrun rviz rviz --sync

This could help you to some extent as it would add necessary delays to synchronize the data flow using buffers.

Good luck.

Regards.