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The robot system has no transform data between the map frame and your robot frames. You would need some form of odometry or a transform publisher to see your laser scans in the map frame.

To find out which frame your scan is published in, have a look at the frame_id in your /base_scan message. The message is probably too long or fast to see the header data inside your terminal, so pipe it to less:

rostopic echo /base_scan | less

Based on your status error I'm guessing the frame_id is base_laser_link. To view your laser scan change the RViz Fixed Frame to that (or any frame connected to it in the tf tree).