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Please read the last section ("Troubleshoot / FAQ") of the LSD documentation. Quote:

How can I get the live-pointcloud in ROS to use with RVIZ?

You cannot, at least not on-line and in real-time. The reason is [...]

They provide a viewer node that you should probably use instead of RViz for this purpose.

If you want to visualize a ply file offline, don't use RViz, use MeshLab or some other ply viewer instead.

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