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I have encountered the same problem. My workspace consists of these repos, all on the head of foxy-devel branch: turtlebot3, turtlebot3_msgs, turtlebot3_simulations.
If I launch waffle_pi which has a camera, I can even see the camera output in rqt, but like yourself not in rviz (likewise no /scan). Incidentally, I also tried to install turtlebot3 and turtlebot3_msg via apt, and turtlebot3_simulations still from source, and with this setup rviz works. I did not managed to do more thorough tests yet.
I checked package.xml for apt installed turtlebot3 and it's 2.1.1, by the tags is 9 months behind, and the problem appeared probably in the commits since then.
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