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@Orhangazi44 is right. rviz displays all frames that are present in the tf tree (i.e. broadcasted to tf using a tf broadcaster), and, by default, just map.

If there are no other frames broadcasted, it will not show any. So you need to add respective tf broadcasters.

If you, however, just want to visualize the point cloud data in the frame it is sent in, it typically is enough to manually type the frame_id in which the data is published (check the header/frame_id field with rostopic echo) in the fixed_frame field in rviz.