RPLIDAR C1: LaserScan Bring-Up and Acceptance

Goal

Start the 2D LiDAR driver and validate scan direction, range, frames and LaserScan data.

Procedure

1. Connect LiDAR over USB or UART.
2. Launch the ROS 2 driver.
3. Inspect /scan in RViz.
4. Confirm frame_id, orientation and usable range.

Verification

Record the command output, confirm the expected ROS 2 topic or behaviour, and resolve power, TF and device-permission errors before continuing.