rplidar topic scan issue

[william00kim]

Robot Model

Turtlebot4 Standard

ROS distro

Jazzy

Networking Configuration

Discovery Server

OS

Ubuntu 24.04

Built from source or installed?

Installed

Package version

I don`t know

Type of issue

LIDAR

Expected behaviour

I find issue from setting ridar for creating map

First, my host pc can `t recieve /scan data in Rviz
Second, So I think rplidar have problem
Third, [ ros2 topic echo /scan --once ] in turtlebot4 ubuntu --> to check issue

Then I found them

Before notice me

I tried

sudo systemctl stop turtlebot4.service
ros2 launch turtlebot4_bringup rplidar.launch.py

but It`s have same issue

please help me.. ㅠㅠ

Actual behaviour

ros2 topic echo /scan --once

Error messages

header:
  stamp:
    sec: 1765290108
    nanosec: 244734119
  frame_id: rplidar_link
angle_min: -3.1241393089294434
angle_max: 3.1415927410125732
angle_increment: 0.023379595950245857
time_increment: 0.0004845401563216001
scan_time: 0.12985676527023315
range_min: 0.15000000596046448
range_max: 12.0
ranges:
- .inf
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- '...'
intensities:
- 0.0
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- '...'
---

To Reproduce

1. my host pc can `t recieve /scan data in Rviz
2. So I think rplidar have problem
3. [ ros2 topic echo /scan --once ] in turtlebot4 ubuntu --> to check issue

Other notes

No response

[smatarCPR]

Hello @william00kim ,
Thank you for reaching out on the Turtlebot 4 Github page. I am very sorry to hear that you are having issues with your Turtlebot 4. Would it be possible to provide the following:

• In RVIZ if you add the scan topic are you able to see the scan rings? Would it be possible to provide a screenshot of the RVIZ window.
• If you SSH directly to the Turtlebot 4, and echo the /scan topic is the output the same as your remote computer?
• Is the lidar scanner spinning or is it stationary?
• What is the output of ls -l /dev/RPLIDAR
• Would it also be possible to provide a quick bag file. Please include all topics and use the following command: sudo apt-get install ros-$ROS_DISTRO-rosbag2-storage-mcap; ros2 bag record -s mcap --include-hidden-topics --all
• Lastly, would it be possible to provide the Turtlebot 4 logs using journalctl -b > turtlebot4_log.txt

Looking forward to hearing from you soon.
Best Regards,
Saif