As you mentioned in following repo https://github.com/CygLiDAR-ROS/cyglidar_d1 you have 3 main topics
/scan_laser
/scan_2D
/scan_3D
but shared bag file doesn't contain /scan_3D nevertheless I can get 3D point cloud in Rviz using only /scan topic. I record a bag file using cygbotlidar not only /scan_3D topic also all other topics, to test your repo but this repo cannot perform SLAM with it. How did you record your bag file ? Your mentioned repo has not /scan topic. Should it be fixed z hight of sensor when recording and aggressive moving can damage SLAM result?
As you mentioned in following repo https://github.com/CygLiDAR-ROS/cyglidar_d1 you have 3 main topics
but shared bag file doesn't contain /scan_3D nevertheless I can get 3D point cloud in Rviz using only /scan topic. I record a bag file using cygbotlidar not only /scan_3D topic also all other topics, to test your repo but this repo cannot perform SLAM with it. How did you record your bag file ? Your mentioned repo has not /scan topic. Should it be fixed z hight of sensor when recording and aggressive moving can damage SLAM result?