To generate a map for autonomous navigation the Lidar cannot be tilted.
[ WARN] [1669048454.299272691, 1631302065.849523351]: Laser has to be mounted planar! Z-coordinate has to be 1 or -1, but gave: 0.74183
[ WARN] [1669048454.412238939, 1631302065.960249728]: Laser has to be mounted planar! Z-coordinate has to be 1 or -1, but gave: 0.74183
Two lidar will have to be used, one for the navigation and for scanning infrastructure.