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I was having the same issues as described above. Not sure why catkin build is needed to be used on Humble installation which requires colcon build environment. I may have misunderstood the solutions provided above, so it did not work for me. I found below and thanks to the author thereto, who solved my headaches.

The RPLIDAR on Humble appears solved now about 5 days ago by:

https://github.com/babakhani/rplidar_ros2

@babakhani babakhani first successful run on Ros2 Humble Ubuntu 22.04

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