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laser_scan_matcher does not define the /world frame. By convention, the /world frame is never defined. laser_scan_matcher requires that a transform from /base_link exist. If you do not publish this transform, laser_scan_matcher can for you. This would represent the sensor's travel with respect to the world.
The frame /world is simply the default. If you would like to measure the robot's travel with respect to the /map frame, you only need to change the fixed_frame parameter. If you do not want to publish tf from laser_scan_matcher, simply change the fixed_frame to some static frame you use in your code (/map for example).
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