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If you just want to run a SLAM algorithm on ROS (such as gmapping) and display the map as it gets built on rviz, you just need to create a map display item linked to the "map" topic where gmapping publishes. If you only have a rangefinder and no odometry, you might want to have a look at hector_slam instead of gmapping.

If you just want to run have a SLAM algorithm running on ROS (such as gmapping) and you want to display the map "in real time" as it gets built on rviz, you just need to create a map new display item linked such as an OccupancyGrid and link it to the "map" topic where gmapping publishes. the node running your SLAM publishes: "/map" by default.