rosrun rplidar_ros rplidarNode
This assumes, that the package rplidar_ros was installed in the initial rosdep install ... run.
The RPLIDAR should start to spin.
This will by default publish to /scan (type sensor_msgs/LaserScan).
To test that the lidar is working, you can run rviz and enable plugin LaserScan.
Make sure to set the Fixed Frame to laser_frame.
For a set of parameters see the documentation.
In case you get something like
Error, cannot bind to the specified serial port /dev/ttyUSB0.
do ls -hal /dev/ttyUSB0 to check the permissions of that device and add your user to the group indicated there, e.g.
sudo usermod -a -G dialout john
su john # re-login to be in the group
if your name is john and the device is owned by root:dialout.
The power source must be 5V DC ±2% with ripples of ~20 mV (max 50 mV). It must provide up to 1.5A at 5VDC. But it is recommended to have a power supply able to provide 3A to sustain the peak at the start of the LIDAR.
For the connection, there is a barrel assembly (e.g. in the official store) which provides a Power Barrel Connector Plug 0.70mm ID, 2.35mm OD EIAJ-1. Simply connect the barrel (with soldering) to the 5VDC source; barrel interior is positive, outside negative.