Error while running pointcloud2 in RViz

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I've tried visualizing 3D LiDAR( CE30-C Benewake solid state LiDAR) point cloud data in RViz. Terminal Commands used:

1. To run the LiDAR, in Catkin workspace,

$ rosrun ce30c_driver ce30_cloud

1. Set the source frame, target frame and time period in milliseconds

$ rosrun tf static_transform_publisher 0 0 0 0 0 0 ce30c_output map 100

1. Opened RViz

$ rosrun rviz rviz

1. Tried by setting the fixed frame to map and ce30c_output, one at once in two trials by closing and opening rviz in each of these two trials.

Incurred error in both the cases:

this is the image with the fixed frame as ce30c_output

Specifications: ROS kinetic. Ubuntu 16.04 LTS.

Where am I going wrong here? or what am I missing here?

Someone, please help me with this.

Thanks in advance.