Frames and rviz visualization

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I have the following frame transformation chain: laser_frame -> base_link -> base_stabilized -> base_footprint -> odom -> map -> world

Where

• laser_frame is where the scans are generated
• odom is the odometry regarding the map
• map is where the 2D map is created based on scans
• world is the frame in the middle of the stage, what is meant to be (0,0,0) and the very first coordinate axis

I want the map to be created over the world while scans/world/map moving regarding the quadrotor. I mean something intuitive, the quadrotor moves inside the stage so rviz must show how the stage (world, scans and map) move relative to it, keeping it in the center of view, fixed.

What must be the fixed frame? What must be the target frame? Why? Must I do some weird transformation or it's just simply the setup?