Verify LiDAR topics
Check that the LiDAR node is publishing data on the expected topics.
After launching the LiDAR driver you should ensure that the expected topics are active and messages are flowing. The following commands display LaserScan messages and report message frequency.
bash
ros2 topic echo /${ROS_NAME}/scan
bash
ros2 topic hz /${ROS_NAME}/scan
bash
ros2 topic list