Navigation tutorial. Dont understand.

edit

At the end of this tutorial it is sad that I should replace PointStamped with sensor streams, what is a right way to do that? I have this four nodes:

1)broadcaster.cpp and lsitener.cpp from here

2)LaserScan.cpp and PointCloud.cpp from here

And this is my launch file:

<launch>

  <arg name="model" default="$(find triangle)/urdf/01.urdf"/>

  <arg name="rvizconfig" default="$(find triangle)/rviz/urdf.rviz" />
  <param name="robot_description" textfile="$(find triangle)/urdf/01.urdf" />  
   <arg name="paused" default="false"/>
  <arg name="use_sim_time" default="true"/>
  <arg name="gui" default="true"/>
  <arg name="headless" default="false"/>
  <arg name="debug" default="false"/>

  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="debug" value="$(arg debug)" />
    <arg name="gui" value="$(arg gui)" />
    <arg name="paused" value="$(arg paused)"/>
    <arg name="use_sim_time" value="$(arg use_sim_time)"/>
    <arg name="headless" value="$(arg headless)"/>
  </include>

  <!-- push robot_description to factory and spawn robot in gazebo -->
  <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model"
        args="-z 1.0 -unpause -urdf -model robot -param robot_description" respawn="false" output="screen" />

  <node pkg="robot_state_publisher" type="robot_state_publisher"  name="robot_state_publisher">
    <param name="publish_frequency" type="double" value="30.0" />
</node>
 <node pkg="triangle" type="movement" name="movement"/> 
 <node pkg="triangle" type="pointcloud" name="poincloud"/>
 <node pkg="triangle" type="laserscan" name="laserscan"/>
<node pkg="triangle" type="broadcaster" name="broadcaster"/>
<node pkg="triangle" type="listener" name="listener"/>

  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>

How to check is laser working or not in rviz? I added it, but cant see there anything.