Add support for local RPLidar on macOS

.vscode/launch.json

@@ -10,8 +10,9 @@
             "request": "launch",
             "module": "car",
             "env": {
-                "CAR_LIDAR": "LIDAR_MOCK",
-                "CAR_VEHICLE": "CAR_MOCK"
+                "CAR_LIDAR": "LIDAR_RPLIDAR",
+                "CAR_VEHICLE": "CAR_MOCK",
+                "LIDAR_DEVICE": "/dev/tty.usbserial-0001"
             }
         },
         {

car/src/car/tracking/devices/factory.py

@@ -17,7 +17,10 @@ def get_lidar(device=None, connection='/dev/ttyUSB0'):
         return MockLidar(loader.load_scans_bytes_file("car/src/car/tracking/out.pickle"))
     elif actual_device == RPLIDAR:
         try:
+            # TODO: Cleanup connection setting, probably don't need to pass it into the method.
             from rplidar import RPLidar
+            if "LIDAR_DEVICE" in os.environ:
+                return RPLidar(os.environ['LIDAR_DEVICE'])
             return RPLidar(connection)
         except ImportError:
             print('Could not import RPLidar. Have you downloaded rplidar?')