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Sorry. I could not view the tutorials, but I could finally use rviz and run the program that comes with this format: sensor_msgs/PointCloud2. To view we only have to add "PointCloud2" in rviz, when we select are the topics to which we can subscribe. Now I have another problem: I can not see anything if I use the format pcl / PointCloud <t>. I run the program with rosrun my_pcl_tutorial ... open after rviz and add PointCloud2 but to see the output is supposed to appear the topic "output" is not listed yet, what is the problem? Thanks =)