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Laser scan topic published but no data returned

Hi guys,

I want to simulate my AGV with two lidars, with topic named /front_scan and /rear_scan. Everything went well but there's no data echoed by laser scan.

The model is successfully loaded in gazebo and rviz, two scan topics are all published by gazebo and received by Rviz, but the scan effect isn't displayed. So I use rostopic echo to check the output, but it gives me no return.

I now feel confused.