I was curious how well LIDAR-Lite, which is just a laser range finder out of the box, would work as a full sweeping LIDAR unit, so I set up this demo unit. The unit updates at 100Hz, so to detect a 10cm object (like a telephone pole) within a 5m arc at 10m distance (with 2x oversampling), I calculate that you need to sweep 30 degrees back and forth each second. (5m = 10m*sin (30)).
That's totally within the speed of a regular servo, so I threw together this test. It just uses APM as an Arduino, sends the LIDAR-Lite and servo position data over serial and reads and graphs the data with a Processing sketch on the laptop. The Arduino code and Processing sketch are here: LIDAR%20sweep.zip.
BTW, the LIDAR-Lite sensor is already fully supported by the APM code as a range finder (for altitude hold with copters and/or autolanding assist with planes). You can read more about using it here.
The code for object avoidance using LIDAR-Lite is already written (thanks to Robert Lefebvre), and this would just add a sweeping component. Here's a video of it working in static mode, on a 2-axis stabilized gimbal: