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Okay, if viewing the /scan topic using rostopic echo shows that all the range measurements are inf then there is no valid scan data. So RVIZ is doing exactly what it should do by showing nothing.

Something is not setup correctly in Gazebo in this case, do you see any lidar rays being shown in the Gazebo GUI? I recommend you to double check the setup of the lidar sensor and to check it's not inside any other geometry.

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