rplidar.launch

<launch>

  <!-- RPLIDAR A1 -->
  <node name="lidar_node" pkg="rplidar_ros" type="rplidarNode" output="screen">
    <param name="serial_port"         type="string" value="/dev/hello-lrf"/>
    <param name="serial_baudrate"     type="int"    value="115200"/> 
    <param name="frame_id"            type="string" value="laser"/>
    <param name="inverted"            type="bool"   value="false"/>
    <param name="angle_compensate"    type="bool"   value="true"/>
    <param name="scan_mode"           type="string" value="Boost"/>
  </node>

  <node pkg="laser_filters" type="scan_to_scan_filter_chain"
      name="laser_filter">
    <rosparam ns="scan_filter_chain">
        - name: shadows
          type: laser_filters/ScanShadowsFilter
          params:
            min_angle: 10
            max_angle: 170
            neighbors: 20
            window: 1
    </rosparam>
  </node>
  <!-- -->

  <!--
      "lidar supported modes
      Standard: max_distance: 12.0 m, Point number: 2.0K
      Express: max_distance: 12.0 m, Point number: 4.0K
      Boost: max_distance: 12.0 m, Point number: 8.0K"
  -->
</launch>