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The fixed frame represents the reference-frame for your coordinate system which for many robotic applications is the map frame. However if you only run a Kinect and don't have a transform between your Kinect-frame and your map-frame available, RVIZ does not know where to display the data from your Kinect and thus won't display anything. So you can
Just set the fixed frame to your Kinect-frame (I can't remember the name, but you can choose from a list)
or send a static tf-transform that determines the transform from your map-frame to the frame of your Kinect. You can do this by using a tf static transform publisher ( http://www.ros.org/wiki/tf#static_transform_publisher )
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