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As is apparent from your view_frames output, you are not running any TF broadcaster.

RViz needs at least one TF authority in order to be able to transform incoming msgs such as pointclouds and other things that have a position in 3D space (ie: the visualiser window) into it's scene graph properly.

You configure the root of the transformation tree that RViz is supposed to use with the Fixed Frame setting, which in your case if set to map. But without anyone publishing a transform from map to whatever frame_id is configured in the incoming msgs that is not going to work.

Two options:

1. add a static_tf_publisher to your launch file that sets up a proper TF tree for all frames involved
2. change the Fixed Frame setting to correspond to any of the frames that are used by any of the incoming msgs (just select the field and type the name of the frame in the textbox)

The proper approach would be 1, but to quickly visualise something, 2 would work.

As is apparent from your view_frames output, you are not running any TF broadcaster.

RViz needs at least one TF authority in order to be able to transform incoming msgs such as pointclouds and other things that have a position in 3D space (ie: the visualiser window) into it's scene graph properly.

You configure the root of the transformation tree that RViz is supposed to use with the Fixed Frame setting, which in your case if set to map. But without anyone publishing a transform from map to whatever frame_id is configured in the incoming msgs that is not going to work.

Two options:

1. add a static_tf_publisher to your launch file that sets up a proper TF tree for all frames involved
2. change the Fixed Frame setting to correspond to any of the frames that are used by any of the incoming msgs (just select the field and type the name of the frame in the textbox)

The proper approach would be 1, but to quickly visualise something, 2 would work.

As is apparent from your view_frames output, you are not running any TF broadcaster.

RViz needs at least one TF authority in order to be able to transform incoming msgs such as pointclouds and other things that have a position in 3D space (ie: the visualiser window) into it's its scene graph properly.

You configure the root of the transformation tree that RViz is supposed to use with the Fixed Frame setting, which in your case if set to map. But without anyone publishing a transform from map to whatever frame_id is configured in the incoming msgs that is not going to work.

Two options:

1. add a static_tf_publisher to your launch file that sets up a proper TF tree for all frames involved
2. change the Fixed Frame setting to correspond to any of the frames that are used by any of the incoming msgs (just select the field and type the name of the frame in the textbox)

The proper approach would be 1, but to quickly visualise something, 2 would work.

Edit: and unless you actually want to do some robot localisation and / or map building, I would not bother with gmapping (or any of the related pkgs).