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I had a similar, but not exactly the same, issue running rplidar on a raspberry pi B+, using ros hydro I built from source.
My problem was resolved by using a powered USB hub for the rplidar. So try disconnecting the rplidar from the usb on the galileo, connect a powered usb hub to galileo, and the rplidar to the powered usb hub.
My issue also was led was on and system indicated good health, but no data. Although in my case, the motor was spinning!.
For me, perhaps either the power supply I was using for the B+ pi board wasn't big enough, or the B+ board itself has an issue with current needs of the rplidar, perhaps regarding starting the motor.
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