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You will have to make sure there exists a tf frame between your laser data frame to world frame. There are a few ways of doing this as given here. Essentially, you can view them in rviz (by subscribing to tf and viewing the tree) or listen in on the terminal using tf_echo. Once you make sure that there is a tf frame from laser frame -> world frame, you can just change the fixed frame in rviz (top left) to the world frame to view laser data transformed into the world frame. If there isn't a tf link from laser frame -> world frame, you will have to make one, either in your urdf xacro file or by creating a static transform.