After compiling the code from master and running the command

rviz2 -d src/ros-bridge/carla_ad_demo/config/carla_ad_demo_ros2.rviz

The rviz2 windows briefly appears in the screen and then the error message is shown in terminal

rviz2: symbol lookup error: /home/felipe/Documents/Github/carla_ws/install/rviz_carla_plugin/lib/librviz_carla_plugin.so: undefined symbol: _ZN3tf27fromMsgERKN13geometry_msgs3msg11Quaternion_ISaIvEEERNS_10QuaternionE

I believe it is a problem related with the geometry2 library and not with carla ros bridge itself.

A temporary workaround is adding a bogus declaration of the function fromMsg

namespace tf2{
  void fromMsg(const geometry_msgs::msg::Quaternion & in, tf2::Quaternion & out){
    (void)(in);
    (void)(out);
  };
}

With this declaration, the plugin is loaded by rviz2 as intended