(cloned from: https://github.com/babakhani/rplidar_ros2)
cd ~/Desktop/ros2_ws # change directory to where your ros 2 work space is
sudo chmod a+rw /dev/ttyUSB0 # modifies the permission of the device file, in this case to be able to read/write to the serial port our lidar is connected to
# sudo chmod 666 /dev/ttyUSB0 # equivalent command to above
source install/setup.bash # configure your current shell/terminal to ROS 2
#ros2 launch rplidar_ros view_rplidar.launch.py
ros2 launch rplidar_ros rplidar.launch.py # launches without Rviz
