Visualize pcl_msgs with rviz [closed]

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Hi, how can i visualize the pcl_msgs format with rviz? It is real?

In the pcl-tutorial "planarsegmentation" (link:pcl_tutorial) , in the second example is written you publish pcl_msgs as type. I can build and start the Project, i can see the data if i type in topic echo, but i cant visualize the result with rviz. Why? What should i do to see the filtered data with rviz or a similar viewer? Is this type of data wrong to visualize? Sorry for my English

Gruß