upd/cow_ipc_backup/rpilader/rplidar_ros/launch/test_rplidar.launch

<launch>
  <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"/>
  <param name="frame_id"            type="string" value="laser"/>
  <param name="inverted"            type="bool"   value="false"/>
  <param name="angle_compensate"    type="bool"   value="true"/>

 </node>
  <node name="rplidarNodeClient"          pkg="rplidar_ros"  type="rplidarNodeClient" output="screen">
  </node>
</launch>