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Two days ago, i meet this problem too. And below is how i solved it :

1, using rosconsole to open rviz node debugging mode.

rosconsole set /rviz_1492690688381763966 ros.rviz.message_filter debug

rviz_1492690688381763966 was your rviz node's name

and it shown the messages came from your camera with the frame name was head_camera(i used [usb_cam](http://wiki.ros.org/usb_cam) driver)

2, modify map to head_camera in Fixed Frame field of rviz.

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