how to get the full path map?

when I run the example, I can only get the current path. If I want to get a full map, what should I do? And is the fixed frame of the data in rviz is world? I choose 'world' as the fixed frame, although I do get some images,  it is quite different from the example you give. I am a newbie to rviz, please help me.  Thank you very much.