title: Remapping rostopic from the existing ReadOnly launch file
body: <p>I have an RPLidar and I installed the necessary packages.
  Right now, the laser data is published to the /scan topic and I can see the output from Rviz.</p>
  <p>I have another project and I should use this implementation for that: <a href="https://github.com/praveen-palanisamy/multiple-object-tracking-lidar" rel="nofollow noreferrer">https://github.com/praveen-palanisamy/multiple-object-tracking-lidar</a></p>
  <p>Now, the problem is: I should publish the scan data to the <code>filtered_cloud</code> rostopic but I could not figure out how.</p>
  <p>I have read about remapping but the problem is:</p>
  <p>The src folder and
  rplidar.launch files are ReadOnly.</p>
  <p><strong>The rplidar.launch is:</strong></p>
  <pre><code>&lt;launch&gt;
    &lt;node name=&quot;rplidarNode&quot;          pkg=&quot;rplidar_ros&quot;  type=&quot;rplidarNode&quot; output=&quot;screen&quot;&gt;
    &lt;param name=&quot;serial_port&quot;         type=&quot;string&quot; value=&quot;/dev/ttyUSB0&quot;/&gt;
    &lt;param name=&quot;serial_baudrate&quot;     type=&quot;int&quot;    value=&quot;115200&quot;/&gt;&lt;!--A1/A2 --&gt;
    &lt;!--param name=&quot;serial_baudrate&quot;     type=&quot;int&quot;    value=&quot;256000&quot;--&gt;&lt;!--A3 --&gt;
    &lt;param name=&quot;frame_id&quot;            type=&quot;string&quot; value=&quot;laser&quot;/&gt;
    &lt;param name=&quot;inverted&quot;            type=&quot;bool&quot;   value=&quot;false&quot;/&gt;
    &lt;param name=&quot;angle_compensate&quot;    type=&quot;bool&quot;   value=&quot;true&quot;/&gt;
    &lt;/node&gt;
  &lt;/launch&gt;
  </code></pre>
  <p>This file and the folder in it are ReadOnly how am I going to remap the <code>/scan</code> points to the <code>filtered_cloud?</code>
  Can you please give detailed instructions for that?</p>