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In RViz, expand the Global Options dropdown menu (upper left) and set the Fixed Frame to your laser sensor's frame ID (the frame_id of your LaserScan messages).

This will allow you to visualize the laser scans without having to worry about the map -> laser transformation.

Update: If the measurements are outside the LaserScan message's reported min-max range, RViz won't visualize them.

In RViz, expand the Global Options dropdown menu (upper left) and set the Fixed Frame to your laser sensor's frame ID (the frame_id of your LaserScan messages).

This will allow you to visualize the laser scans without having to worry about the map -> laser transformation.