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If I understand you well you are trying to see the output of your 2D laser scan. Is your world empty? if so there is not object to reflect back the laser points therefore your laser /scan message will include nothing but infinity distance measured by the laser (there is no object to return back any laser points). Also as a good rule of thumb, when you visualize it in rviz make sure you are on the right tf tree. (i.e. base_link)