I suggest you to go through all tutorials from the first one. They are sequential and each is based on previous one. I am sure this will answer most of your questions.
tutorial_pkg you will have to modify
Find driver for RpLidar and replace it with XV11:
<node if="$(arg use_rosbot)" pkg="rplidar_ros" type="rplidarNode" name="rplidar">
<param name="angle_compensate" type="bool" value="true"/>
And adjust static transform publisher to position where you mounted lidar:
<node if="$(arg use_rosbot)" pkg="tf" type="static_transform_publisher" name="laser_broadcaster" args="0 0 0 3.14 0 0 base_link laser_frame 100" />
Furthermore you will have to adjust
.yaml files containing path planning and exploration parameters in rosbot_navigation package.
Last thing to change is robot parameters in CORE2 controller. Robot specific code is in
ROSbot class (header, body). I think that it would be the best to create your own class based on this one.