Hey, all!
I just ported (for the most part) the rplidar_ros node.
https://github.com/allenh1/rplidar_ros
Tested and working!
Note: I have only ported the node, but the launch files shouldn’t be hard once I get around to it.
PS: I have also updated GMapping, and encourage you to rebuild if you’re using it.
cheers!
–Hunter