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To see pointcloud on rviz u need to define transform. According to ur question, I guess pointcloud is getting published in camera frame. Now either in rviz u can make ur camera frame as fixed frame or define a fix transform between camera frame and fixed frame like "/map". To define a fix frame u can use following terminal command. rosrun tf static_transform_publisher 0 0 0 0 0 0 map camera_frame 100

Hope this helps