VLP 16 interfacing with px4 using companion computer onboard

Hello all!
We’re working on a heavy payload multirotor with a custom design. We need a Obstacle avoidance system working parallel with our flight plan.

We have a VLP 16 Puck lite lidar model and PX4 Flight controller (cube).
We want to integrate it with PX4 with help of companion computer. I researched and found material about mavros and mavlink.

I still need a confirmation about my work flow. How do I actually proceed for the same.
I already interfaced the VLP 16 with ROS platform.
Can anyone please help with both hardware and software integration for the same.
Also, suggestions with work flow and process are invited.