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You need to provide the tf transformation between the map link and the plc link. Take a look at http://wiki.ros.org/tf#static_transform_publisher:

static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period_in_ms

For example, to have the pointcloud appear 1 meter above the map and upside-down, you should execute the following before running your node:

rosrun tf static_transform_publisher 0 0 1.0 3.141592654 0 0 map plc 100

Then in Rviz you should be able to select "map" as the <fixed_frame> and see the PointCloud

I hope this helps