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The problem showing the data in RViz was most likely caused by having "fixed frame" in rviz set to the wrong thing. You can see the frame_id in the laser message headers is "neato_laser". RViz either needs to have that as the fixed frame, or it needs TF messages (on topic /tf) being published which show the relationship between the "neato_laser" coordinate frame and the fixed frame. Typically these are specified in a URDF describing the robot's various links and sensors (each with its own coordinate frame name) and published by robot_state_publisher. Then there is "amcl" which does localization which can give the relationship between the robot's base_link and the map. Since "map" is a very common fixed frame to use, that is the default in rviz.
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