I recently purchased the LIDAR LD19. I managed to configure it and it is working fine, presenting the data in the RVIZ (LaserScan).

The LIDAR node is configured as described at: https://github.com/Myzhar/ldrobot-lidar-ros2/.

My question is: I would like to make a SLAM process and for that I am using the slamtoolbox framework (ROS2 Humble). I set up slamtoolbox following a tutorial and apparently managed to subscribe to the /ldlidar_node/scan thread.

To configure slamtoolbox I used the yaml file described at: https://github.com/SteveMacenski/slamtoolbox/blob/ros2/launch/onlineasynclaunch.py

I opened RVIZ2, activated the map. I added the map topic, but I can't generate the map (SLAM) at all. The funny thing is that apparently ldlidarnode is being processed by slamtoolbox. But the map is not generated.

Could you let me know if LD-19 Lidar is compatible with ROS2 slam_toolbox? Is there any other framework, compatible, that I can generate the SLAM?