Displaying Velodyne - HDL 32E data in rviz

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Hey,

I tried to display converted HDL 32E data in rviz.

According to the wiki there is a launchfile, that takes the raw data from ethernet packets and converts them to PCL2-data.

Till that point it seems to work, I can at least launch the file and take data from a *.pcap file and get no warnings or errors.

Actual problem is:

rxgraph displays two topics to subscribe(/velodyne_nodelet_manager/bond and /velodyne_packets) - but if I add a PCL2 Display in rviz and subscribe to either, all I get is this:

[ERROR] [1338812341.289971935]: Client [/rviz_1338811589243214356] wants topic /velodyne_packets to have datatype/md5sum [sensor_msgs/PointCloud2/1158d486dd51d683ce2f1be655c3c181], but our version has [velodyne_msgs/VelodyneScan/50804fc9533a0e579e6322c04ae70566]. Dropping connection.

[ERROR] [1338812407.808332750]: Client [/rviz_1338811589243214356] wants topic /velodyne_nodelet_manager/bond to have datatype/md5sum [sensor_msgs/PointCloud2/1158d486dd51d683ce2f1be655c3c181], but our version has [bond/Status/eacc84bf5d65b6777d4c50f463dfb9c8]. Dropping connection.

Basic question: Which is the topic to subscribe in rviz(where are the pcl2-msgs published) and is launchning the launchfile really all it takes to convert the raw data to pcl2-msgs?

Thanks a lot...