Run ROS2 and RVIZ2 inside docker to show/process an RPLidar-scan.
Connect your RPLidar to the PC and run docker-compose up to build and start the docker container.
You should see the laser scan result as red dots inside rviz directly.
If you restart rviz make sure to also restart the docker-container, sometimes just restarting the rviz-rplidar container without restarting the rplidar-one does not show the scan result anymore.