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Hello, I was also facing a similar problem. Then I decided to use turtlebot 4 package SLAM and I am giving you the commands that helped me solve this problem. I hope this helps you:
The first step was to Install the odometry package which isrf2o_laser_odometry
The second step was to start the Lidar node using: ros2 launch rplidar_ros rplidar.launch.py
The third step is to start odometry from ros2 workspace:ros2 launch rf2o_laser_odometry rf2o_laser_odometry.launch.py laser_scan_topic:=scan
The fourth step is to do static transformation:
ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 base_link laser
ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 base_link odom
The fifth step was to start the SLAM algorithm:
ros2 launch turtlebot4_navigation slam.launch.py params:=/full/path/to/slam.yaml
The final step is to Bring up the robot:
ros2 launch turtlebot4_viz view_robot.launch.py
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