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The header of your PointCloud2 message says "frame_id: /base_link". That is the name of the reference frame that rviz will try and use to figure out where the points should be. If you don't have anything publishing /tf messages (which say where the different frames are, relative to each other), then you must tell rviz to use as its "fixed frame" the same frame_id in the message.
RViz automatically populates the "Fixed Frame" dropdown with all the frames being published in the /tf topic, because that is usually the best source for such data. However, RViz also allows you to type the name into the "Fixed Frame" field even if it is not in the drop-down or if the drop-down is totally empty.
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