Using RPLidar (360 Lidar) for obstacle avoidance Missions

Hi guys,

For a project I want to use a 360 Lidar for obstacle avoidance.
My current setup flies on a raspberry Pi and so I want to add the Lidar to avoid obstacles.
Is there any example or implementation done already or should I modify it myself?

Hi Do you have any idea of obstacle avoidance using pixhawk and rplidar?