Required tf for overlaying laser on image using Camera display type.

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Provided the tf transforms are correctly set up and the scanner is outputting laser_scan data, this should work. A few things you could check:

• Check that tf is working

• Do you see other visualization elements in the camera view? (i.e. the grid, the arrow pointer when giving a 2D nav goal etc.)

• Have you set the fixed frame in rviz properly?

• Does it work with other robots/launch files? The Turtlebot or hector_quadrotor gazebo simulations for instance can be used to quickly check that.

• Is your camera calibrated correctly? The camera view rectifies images, so this has to be correct.

• Finally, be sure that you have set the "Overlay Alpha" of your camera view to something like 0.5.