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The rviz fixed frame is the frame that will act as the origin of coordinates on rviz. You can use whichever frame you want, as long as transforms exist between this frame and the rest of the frames published (e.g. robot frames: base_link, laser, etc.).

You've set the rviz fixed frame to /map, which is the frame that's usually used for navigation, but no node is publishing the transform between the map frame and the base_link frame on your robot. You should publish this transform if you really need to set /map as the fixed frame, or either change the fixed frame to some of the frames defined on your robot. This last option is the quickest if you only need to visualize the robot model.