I built a mapping robot with ROS and a Kinect a while ago, but have yet to build a LIDAR based one.
I worked on the open source Java project for LEGO Mindstorms - leJOS. I have a lot of sensors from that, so might make a LEGO Mindstorms connector Pmod.
And yes, I do have a box of cheap sensors that I have bought off ebay and AliExpress.
BlackSoc is a good way to get sensors working with Ice40 FPGAs, as sending the commands for SPI and i2c devices from Verilog is a pain, but trivial from C. I need to improve my i2c master Verilog implementation. The SPI master was written by Clifford Wolf and is very flexible. I now understand how to use it,
I am having a bit of a problem with the OV7670 VGA camera sensor which I got the Pmod for from OSH Park. You can get those sensors for 2 or 3 dollars from ebay. The Pmod works fine and I can read data from the camera in the default YCbCr mode, but I need to get the SCCB interface to it working to change the mode to RGB and change other parameters, and I am currently having problems with that. SCCB is like i2c but without the ACKs.
Are the the LIDAR sensors you bought - https://www.aliexpress.com/item/VL53L0X-Time-of-Flight-ToF-Laser-Ranging-Sensor-Breakout-940nm-GY-VL53L0XV2-Laser-Distance-Module-I2C/32828124527.html?