how to detect legs with leg_detector and urg_node with visualisation in rviz

edit

i've started the leg_detector and the urg_node with a launch file:

<launch>
  <node pkg="leg_detector" type="leg_detector" name="leg_detector" args="scan:=scan $(find leg_detector)/config/trained_leg_detector.yaml" output="screen"/>
  <node name="urg_node" pkg="urg_node" type="urg_node" output="screen" args="/most_intense:=/scan">
            <param name="ip_address" value="192.168.0.10"/> 
            <param name="frame_id" value="base_laser"/> 
  </node>
</launch>

How can start the leg detection right and how can i visualize them in rviz? i can see with rostopic echo /scan that the urg_node is publishing the measures and i can visualize them in rviz. The visualization_marker from leg_detector doesn't publish anything.

i get the warning in the console:

[ WARN] [1448009011.893469224]: MessageFilter [target=odom_combined ]: Dropped 100.00% of messages so far. Please turn the [ros.leg_detector.message_notifier] rosconsole logger to DEBUG for more information.

Thanks in advance