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It was the incompatibility between Dashing and Eloquent which makes sense.
After compiling Dashing on my Ubuntu 19.10 and running:

ROS_DOMAIN_ID=45 ros2 topic list --spin-time 30

I can now see

/parameter_events
/rosout
/scan

I'm also able to visualise the scan data with Rviz:

ROS_DOMAIN_ID=45 rviz2