Hello everyone, Im kind of new in the robotics universe and im actually working on a personnal project. Im trying to make a robot that use SLAM with ros but with cheap material.

I use a LD06 lidar connect via UART to an esp32 and i use websocket to access datas, then i use ROS on my ubuntu 22.04 virtualbox machine to process datas.

The issue I currently have is that i acquire datas but when I publish the laserscan and visualise it on RVIZ2 i only get datas frame per frame, which isn't good for me to visualize if they are coherent.

I search online and found a solution with PointCloud but my main question is : Why the LD06 Launcher they gave when you want to try the lidar by USB, can show datas properly just with laserscan.

To describes datas I received, they are in the format of 12 points per frames, so when i visualise laserscan i only see 12 points which are like 20 degrees of datas.

Thanks for incoming answers, sorry for my vocabulary i'm not native english.