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+<launch>
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+ <node name="rplidarNode" pkg="rplidar_ros" type="rplidarNode" output="screen">
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+ <param name="serial_port" type="string" value="/dev/ttyUSB0"/>
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+ <param name="serial_baudrate" type="int" value="115200"/><!--A1/A2 -->
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+ <!--param name="serial_baudrate" type="int" value="256000"--><!--A3 -->
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+ <param name="frame_id" type="string" value="lidar"/>
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+ <param name="inverted" type="bool" value="false"/>
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+ <param name="angle_compensate" type="bool" value="true"/>
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+ </node>
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+</launch>
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