diff --git a/stretch_core/launch/stretch_rplidar.launch b/stretch_core/launch/stretch_rplidar.launch
new file mode 100644
index 0000000..b0a93c9
--- /dev/null
+++ b/stretch_core/launch/stretch_rplidar.launch
@@ -0,0 +1,34 @@
+<launch>
+
+  <!--
+  supported lidar modes
+  =====================
+  Standard: max_distance: 12.0 m, Point number: 2.0K
+  Express: max_distance: 12.0 m, Point number: 4.0K
+  Boost: max_distance: 12.0 m, Point number: 8.0K"
+  -->
+  <arg name="scan_mode" default="Boost" doc="scanning mode of the lidar ('Standard', 'Express', or 'Boost')" />
+
+  <!-- RPLIDAR A1 -->
+  <node name="lidar_node" pkg="rplidar_ros" type="rplidarNode" output="screen">
+    <param name="serial_port"         type="string" value="/dev/hello-lrf"/>
+    <param name="serial_baudrate"     type="int"    value="115200"/>
+    <param name="frame_id"            type="string" value="laser"/>
+    <param name="inverted"            type="bool"   value="false"/>
+    <param name="angle_compensate"    type="bool"   value="true"/>
+    <param name="scan_mode"           type="string" value="Boost"/>
+  </node>
+
+  <node pkg="laser_filters" type="scan_to_scan_filter_chain" name="laser_filter">
+    <rosparam ns="scan_filter_chain">
+        - name: shadows
+          type: laser_filters/ScanShadowsFilter
+          params:
+            min_angle: 10
+            max_angle: 170
+            neighbors: 20
+            window: 1
+    </rosparam>
+  </node>
+
+</launch>