How do we add LIDAR to a ROS robot?

Companion blog post available at https://articulatedrobotics.xyz/mobile-robot-8-lidar/

Finished lidar.xacro file https://github.com/joshnewans/articubot_one/blob/545acac87ae215d80ef6b28abe6097eb7281d9ff/description/lidar.xacro
Finished rplidar launch file https://github.com/joshnewans/articubot_one/blob/545acac87ae215d80ef6b28abe6097eb7281d9ff/launch/rplidar.launch.py

00:00 - Intro
00:34 - What is LIDAR?
02:47 - LIDAR in ROS
04:35 - Adding a laser frame to our URDF
09:00 - Simulating LIDAR in Gazebo
14:43 - Integrating a real LIDAR
18:25 - Some extra tips
21:54 - Outro