use rpLidar with ros2 humble container

[thanhtruongphan]

I'm doing a project that use Ros2-humble on Jetson. I'll do some image-processing with Jetson so I need an Jetson have Jetpack. And use Rplidar with ROS2.

I had tried this docker-container https://hub.docker.com/layers/dustynv/ros/humble-desktop-l4t-r36.4.0/images/sha256-b8ee30b1ae189cfeeea755a7fd6b8aea74267f5c1bc0cfa4f19a6acec9d941e5?context=explore

but the Rplidar does not show up anything.
I used that Docker container and follow this https://github.com/Slamtec/sllidar_ros2

But It's doesn't work.
result is something like:

ps: my Docker run with configs:

sudo docker run -it --name ros-humble-container-esp32-2 \
-v /dev:/dev \
--privileged \
--runtime nvidia \
--network host \
--gpus all \
-e DISPLAY=$DISPLAY \
-e QT_X11_NO_MITSHM=1 \
-v /tmp/.X11-unix:/tmp/.X11-unix:rw \
-v $XAUTHORITY:/root/.Xauthority \
dustynv/ros:humble-desktop-l4t-r36.4.0

Can you help me...or some instructions, pls @dusty-nv
-thank you so much-