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@dbolya @chongzhou96 Hi, I also got same issue ->RuntimeError: Expected a 'cuda' device type for generator but found 'cpu'. Could you please help us? Thank you (I have: Ubuntu20,RTX3060,Cuda11.3,Torch1.9.0+cu111)

Thank you so much. It worked for me also.

Hi, you need rviz: rosrun rviz rviz