Go buy any vacuum cleaner from Neato, cost: $300-$500. Give it a LIDAR-ectomy and also save the nice battery pack. Toss the vacuum parts. Now you have a nice LIDAR with a well-known interface protocol (thy friend is Google). This is the cheapest good LIDAR around. 360 data points, 5Hz scanning, 1 degree resolution, 5m indoor range, 2+ meters outdoors if you provide a sunshade. Or, if you like the Neato base, use the USB protocol and Neato ROS node to drive the unmodified vacuum around.
The Neato LIDAR is a structured-light Laser Distance Scanner (LDS), accuracy about 1-2cm depending on distance. Resolution 1mm. Minimum sensing distance about 20cm, IIRC.