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As it seems to be a current problem to me, I looked into what's the current limit on my Raspberry Pi 2 Model B, and found that the default limit is 600mA. However, this can be increased to 1.2A. All you need to do is to add a line max_usb_current=1 in /boot/config.txt (see this post for more detail). Then, I encounter no more usb disconnection when start reading and publishing the scan from RPLidar. RPLidar works with Pi like a charm!
I also hooked up a usb current meter between my 2.1A battery pack and the Pi. The reading is 0.4x Amp when just connecting the RPLidar to the Pi. However, when start reading the scan data, the reading increases to 0.5x Amp, which maybe too close to the 0.6A default current limit and causes the usb disconnection. Maybe you don't need the usb hub anymore. :)
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