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I got my solution and it's working with rviz. I solved this issue adding directly to the header the name of my frame_id.

sensor_msgs::PointCloud2 shape;
pcl::toROSMsg(*point_cloud_ptr,shape);
shape.header.frame_id="myshape";

After that I created a transform broadcaster:

tf::TransformBroadcaster br;
tf::Transform transform;
transform.setOrigin( tf::Vector3(0.0, 0, 0.0) );
transform.setRotation( tf::Quaternion(0, 0, 0) );

which I send in every iteration:

while(nh.ok()){
        br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", "myshape"));
        pub.publish (shape);
        loop_rate.sleep();
}

Here is my full code: http://pastebin.com/0nWrm14E