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I have a quite similar situation with you. I use Raspberry pi, jessie, rplidar A2.

I met the situation when raspberry is powered by another robot.

However, when I use rplidar with my PC ubuntu, 14.04 LTS everything works well.

It also works well if I use a stable power source. So I think the problem may be the power supply.

Maybe you can check your power support for raspberry or rplidar.

By the way, to stop the lidar, you can run rosservice call /stop_motor. Ctrl+C should also works.

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