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That message is because rviz is not receiving any tf data for odom, which is probably what you have your fixed frame set to in rviz. You can change your fixed frame to be the frame_id of the laser data if you just want to visualize it in rviz. Otherwise you'll need a tf tree between /odom and the laser data's frame_id. You'll also need this kind of tf data if you want to use the laser data with gmapping SLAM. This is because the SLAM algorithm needs the position of the laser with respect to the rest of the world over time in order to make a map from the laser data. Typically this means you have at least a transform from /odom to the robot's frame (usually /base_link) that updates over time and a static transform between the robot's frame and the laser's frame. At the absolute minimum I believe you can get away with a single updating transform between /odom and the laser's frame.