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The lack of ability to record messages with non-default QoS settings (which is what is happening here as the "scan" is using a "best-effort" publication and not the default "reliable") has been a long standing issue https://github.com/ros2/rosbag2/issues/125.

It appears that it got closed yesterday after many PRs. So it should be in the upcoming ROS 2 Foxy release.

As of if this feature will be backported to Dashing, maybe @Karsten would know