open terminal and load ur verilog file (cd /cad ...cd <filename>)
then type
"vcs <pathname> <pathname of testbench> + v2k -debug_all
`/simv-gui"
waveform is generated
right click on the schematic,add to wave simulator_start
It looks like there was no activity on your signals hence the VCD file is empty of "value changes". Did you see a waveform in Modelsim? If so do you have a vsim.wlf file created? If yes you may also use