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In my rviz, both of the fixed frame and target frame are '/map'. Following is my common costmap configuration:

map_type: costmap
transform_tolerance: 0.2
obstacle_range: 2.5
raytrace_range: 3.0
inflation_radius: 0.55
footprint: [[0.13, 0.35],
            [0.25, 0.15],
            [0.25, -0.15],
            [0.13, -0.35],
            [-0.13, -0.35],
            [-0.25, -0.15],
            [-0.25, 0.15],
            [-0.13, 0.35]]

observation_sources: base_scan

base_scan: {data_type: LaserScan,
            topic: /base_scan,
            expected_update_rate: 0.4,
            observation_persistence: 0.0,
            marking: true,
            clearing: true,
            min_obstacle_height: 0.08,
            max_obstacle_height: 2.0}

global_costmap:

global_costmap:
    publish_voxel_map: true
    global_frame: /map
    robot_base_frame: base_link
    update_frequency: 5.0
    publish_frequency: 0.0
    static_map: true
    rolling_window: false

local_costmap:

 
local_costmap:
    publish_voxel_map: true
    global_frame: odom
    robot_base_frame: base_link
    update_frequency: 5.0
    publish_frequency: 2.0
    static_map: false
    rolling_window: true
    width: 10.0
    height: 10.0
    resolution: 0.025
    origin_x: 0.0
    origin_y: 0.0