Visualise the point cloud on RVIZ plane with images.

Terminal 1:

roscore

Terminal 2:

Go to the directory where the rosbag file is present

Command : rosbag play -l <ros_bag_name>

Terminal 3:

To check the topics that are being published

Command : rostopic list

Terminal 4 :

Command : rviz

In opened GUI of RVIZ

1. Change the fixed frame to velo_link
2. Add -> pointcloud2 -> Change the topic
3. Add -> Image -> Choose the topic based on requirement.

Commands:

1. To see the info of ros topic

command : rostopic info </topic_name>

2. To see the ros message info.

command : rosmsg info </message_type>