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Space-charge waves in a relativistic electron beam that completely fills a cylindrical metallic waveguide and is guided by an ion channel are analyzed numerically. Equilibrium consists of a uniform and rigid rotation without betatron oscillations. Using cold fluid equations a differential equation and boundary conditions are derived that constitute an eigenvalue problem. This eigenvalue problem is solved, numerically, with the finite difference scheme using shooting method. Dispersion characteristics and electrostatic potential structures of azimuthally symmetric and nonsymmetric space-charge waves are studied. Perfect agreement with analytical results at asymptotic limit of zero axial velocity is found. It was found that relativistic effects modify the dispersion characteristics of the space-charge waves considerably and can concentrate the electric field energy of the wave into a thin and small shell around the axis.