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How to display bag file in rviz

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Hi all, I am new on ROS and Linux. I am trying to display point cloud using rviz with VLP-16. Before starting to see real time data, I wanted to see how pcap file can be converted into human-readable, and visible data. So I used pcap file (downloaded from www.velodynelidar.com) to convert to bag file as follows: $ rosrun velodyne_driver velodyne_node _mol:=VLP16 _pcap:=/home/soowon/Documents/County_Fair.pcap _read_once:=true On new terminal, to record pcap data into bag file: $ rosrun rosbag record -O Countyfair.bag /velodyne_packets ON new terminal, I used rosbag to play bag file that I just made: $ rosbag play Countyfair.bag Another new terminal, to open rviz: $ rosrun rviz rviz Problem starts from here. 1. I cannot see anything on the screen, even though I added PointCloud, PointCloud2. In rviz, it says "No tf data. Actual error: Fixed Frame [map] does not exist." 2. Not only that I want to see point cloud in rviz, my ultimate goal is acquiring xyz coordinates for each frame. Can you guys tell me where can I find this data? Any advice? I would appreciate :)

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