How to connect RPLiDAR to Pixhawk 4 and raspberry pi

Hardware Pixhawk family
1

Hi, I want to use my a3m1 RPLiDAR for object avoidance and I also need to connect the RPLiDAR to a raspberry pi 3 B+ to use google cartographer to map the area. Does anyone have any ideas how to do this?

Thanks!

2

use the linux device driver for it. But you can not connected to both AFAIK