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The fixed frame relative to which all data is shown in rviz is set to world, but your realsense camera frames do not have a tf connection to that frame, so data cannot be displayed correctly. If you enter realsense_frame as fixed frame in rviz, you should see sensor data.

You can probably build a 3D map using the Realsense, but this generally is not trivial. There are multiple packages that probably can be set up to work with the R200, such as RGBD-SLAM, RTABMAP (for that see this Q/A), viso2 and others. All of them require some setup effort however.