Not able to see 3d map in rviz

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Hi, i want to make 3d map using UTM-30LX. I created 2d map. Then I write tf_broadcaster to provide transform between /world and /laser frame when hokuyo is moving in upward direction. Not able to see 3d map in rviz. The tf_broadcaster.cpp is given below.

#include <ros/ros.h>
#include <tf/transform_broadcaster.h>

int main(int argc, char** argv){
  ros::init(argc, argv, "my_tf_broadcaster");

  ros::NodeHandle node;
  ros::Rate rate(30.0);
  static tf::TransformBroadcaster br;
  tf::Transform transform;

while(ros::ok()) {
  transform.setOrigin( tf::Vector3(0.0, 0.0, 0.0) );
  tf::Quaternion q;
  q.setRPY(0, 0, 0);
  transform.setRotation(q);
  br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", "laser"));
  rate.sleep();
  ros::spinOnce();
}

  return 0;
};

In rviz "no /world frame exist" error is coming. Can anybody tell me where i am wrong?