LIDAR returns only minimum range in TB4 simulation without GPU

[KishanSawant]

Describe the bug
When turtlebot4 is launched in a Gazebo simulation, if GPU is not enabled then the LiDAR rays are capped at its minimum range

System Description
Software:
OS: Ubuntu 24.04
Gazebo version: Harmonic
ROS: ROS2 Jazzy

System:
Nvidia graphic card: RTX 4080
Processor: Intel(R) Core(TM) i9-14900HX
RAM: 64GB

To Reproduce
Steps to reproduce the behavior:

1. Open Nvidia X server settings
2. Set PRIME Profiles to NVIDIA On-Demand
3. Execute the tb4 simulation launch file: ros2 launch turtlebot4_gz_bringup turtlebot4_gz.launch.py
4. echo the /scan topic or visualize the LiDAR scan data in Gazebo or rviz2

Expected behavior
Correct measurement values in /scan topic

Screenshots

Additional context
It works as expected in two instances:

1. If the PRIME Profiles is set to NVIDIA (Performance Mode) which allows to use the GPU
2. If the render engine is set to ogre2 instead of ogre here:

   create3_sim/irobot_create_common/irobot_create_description/urdf/create3.urdf.xacro

   Line 301 in c3cbc51

   <render_engine>ogre</render_engine>

[KishanSawant]

This is discussed in these issues on turtlebot4_simulator repo #20, #85, and #54. Where the solution/workaround involves either enabling GPU support or specifying a vertical scan range to work with the OGRE rendering engine, making it a 3D scanner; or switching to the OGRE2 rendering engine with some debate on drop in quality of camera data