Ros2 Galactic Nav2 - /scan offering incompatible QoS

edit

Hello, Got below messages while trying Nav2 setup and rviz didnt show the scan

New subscription discovered on topic '/scan', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY

[rviz2-5] [WARN] [1639275375.691911822] [rviz2]: New publisher discovered on topic '/scan', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY

[gazebo-1] [WARN] [1639275575.651314019] [depth_camera_controller]: New subscription discovered on topic '/depth_camera/image_raw', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY

[rviz2-5] [INFO] [1639275575.682572775] [rviz2]: Stereo is NOT SUPPORTED

[rviz2-5] [WARN] [1639275575.697367400] [rviz2]: New publisher discovered on topic '/depth_camera/image_raw', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY