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References
http://www.slamtec.com/en/Support#rplidar-a-series
https://github.com/slamtec/rplidar_sdk
https://github.com/slamtec/rplidar_ros
https://github.com/SkoltechRobotics/rplidar
https://rplidar.readthedocs.io/en/latest/
Connect LiDar
Use the correct USB cable. The USB cable will need to be able to transfer data and power. If you are using a data USB cable, a green led will be lit on the USB interface board.
To confirm the Lidar is connected, enter the following command in the Linux terminal.
lsusb
The Lidar will show as ‘QinHeng Electronics HL-340 USB-Serial adapter’.

Test the Code
Copy the example code from this site.
https://github.com/SkoltechRobotics/rplidar

Turtle bot2
https://github.com/roboticslab-fr/rplidar-turtlebot2