<launch>
  <node name="rplidarNode"          pkg="rplidar_ros"  type="rplidarNode" output="screen">
	<param name="serial_port"         type="string" value="/dev/rplidar"/>  
	<param name="serial_baudrate"     type="int"    value="115200"/>
	<param name="frame_id"            type="string" value="laser_link"/>
	<param name="inverted"            type="bool"   value="false"/>
	<param name="angle_compensate"    type="bool"   value="true"/>
	<!--param name="scan_mode"           type="string" value="Sensitivity"/>
	<param name="min_distance"    type="double"   value="0.02"/i-->
  </node>
</launch>
