I‘m using Autoware in its most recent version on a Ubuntu 18.04 machine and this rplidar_node. The node publishes correct messages when I check with ros2 topic echo scan but it fails to get them shown on rviz2 with this error message
[INFO] [1625892725.336256970] [rviz]: Message Filter dropping message: frame 'laser_frame' at time 1625892723.515 for reason 'Unknown'
When I use ros melodic everything works fine.