Of the three natural rights mentioned in the Declaration of Independence, I personally believe that freedom is the most important. This is because freedom, understood as the right of everyone to decide their destiny and govern their own life without dependence on third parties, is the right that allows the exercise of other rights: thus, without freedom, happiness cannot be pursued, nor can live a full life. In other words, freedom is an essential requirement for the exercise of the other natural rights of man.
This excerpt might suggest that the world is a place to be observed in contemplation. As regards the words "rising and gliding", it might be said that Whitman used them to portray how the speaker is feeling, maybe he is happy to leave.