<launch>
    <node pkg="rosserial_arduino" type="serial_node.py" name="rosserial" 
        respawn="true"  args="_port:=/dev/ttyACM0"/>

    <!-- Lidar -->

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

</launch>