laserscan to cloud display "live"

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Hello everybody!

I got a littlebit stucked in my progress. I manged to build a node, which converts my laserscan data "/hokuyo_laser_link" to a pointcloud2 topic "cloud". When i record data and play it back - the node works perfect and i can see my /cloud in RVIZ.

But when I start the node during a "live" test, nothing happens: thats my progress:

1. connect via ssh to my kobuki bringup ros on the kobuki

2. second terminal: export ROS_MASTER_URI=http://kobukiIP export ROS_IP=http:://kobukiIP rosrun rviz rviz (everthing works fine)

3. second terminal: export ROS_MASTER_URI=http://kobukiIP export ROS_IP=http:://kobukiIP ./pointcloud2

4. In RVIZ: Poincloud2 -> status /cloud topic ok but i cant see anything

here is my node:

#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl/point_types.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl_ros/point_cloud.h>
#include <boost/foreach.hpp>
#include <pcl/io/pcd_io.h>
#include <tf/transform_listener.h>
#include <laser_geometry/laser_geometry.h>

 ros::Publisher pub;

class My_Filter {
     public:
        My_Filter();
        void scanCallback(const sensor_msgs::LaserScan::ConstPtr& scan);
     private:
        ros::NodeHandle node_;
        laser_geometry::LaserProjection projector_;
        tf::TransformListener tfListener_;

        ros::Publisher point_cloud_publisher_;
        ros::Subscriber scan_sub_;
         };

My_Filter::My_Filter(){
        scan_sub_ = node_.subscribe<sensor_msgs::LaserScan> ("/scan", 100, &My_Filter::scanCallback, this);
        point_cloud_publisher_ = node_.advertise<sensor_msgs::PointCloud2> ("/cloud", 100, false);
       tfListener_.setExtrapolationLimit(ros::Duration(0));
}

void My_Filter::scanCallback(const sensor_msgs::LaserScan::ConstPtr& scan){
    sensor_msgs::PointCloud2 cloud;
std::cout << " ich bin drin" << std::endl;
    projector_.transformLaserScanToPointCloud("/hokuyo_laser_link", *scan, cloud, tfListener_);
    point_cloud_publisher_.publish(cloud);
}



int main(int argc, char** argv)
{
    ros::init(argc, argv, "my_filter");

    My_Filter filter;

    ros::spin();

    return 0;
}

Has anyone an idea?

Thank you all in advance!

Cheers!