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I did exactly the same yesterday and hit the same problem. The short answer is: You have to press "startup" in rviz, to start the nodes. (In the lower left there is a little Box labeled "Navigation 2"). Long Answer the nodes in the navigation 2 stack are started using the life-cycle features and need to be set to the "active" state. Before that no map is published and the nodes are not publishing the tf-frames that are needed.

As I am only a beginner user of nav2 myself I have yet to figure out what exactly to do from the console ;)