rviz2 does not display a point cloud while using Autoware.Auto and LGSVL Simulator

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I am trying to run Autoware.Auto and the LGSVL Simulator together. I found two slightly contradicting tutorials. 1) from Autoware.Auto 2) from LGSVL Simultaor 1) does not include an explanation on how to use rviz2. But it does include some helpful explanations and adaptions of 2) I can run the simulator according to both tutorials. The different implementations of the ros2 bridge seam to work as I get a list of topics while either using ros2 nativebridge or the __webbridge__. I tried different sensor.json files. One that is given in the Autoware.Auto root directory and the other one from tutorial 2. https://www.lgsvlsimulator.com/docs/a... While using tutorial no.1 is used rviz2 to start rviz. For tutorial 2) I used rviz2 -d /home/"${USER}"/AutowareAuto/install/autoware_auto_examples/share/autoware_auto_examples/rviz2/autoware.rviz In both situations, there seems to be a tf publisher missing which connects [lidar_front] and [base_link], as seen in the picture below:

Any help or guidance is appreciated.