This is an implementation of a simple LaserScan to 2D PointCloud conversion.
cd ~/dev_ws/src
git clone https://github.com/husseinalijaafar/laserscan-to-pcd
cd ..
colcon build
In a new window
source ~/dev_ws/install/setup.bash
ros2 launch laserscan_to_pcd laserscan_to_pointcloud.launch.py
Make sure the ROS_DOMAIN_ID
of the turtlebot and computer are the same.