One of the machines that I'm working on is a robotic sander. I found a similar scenario on Youtube https://www.youtube.com/watch?v=Z329o3phUzs&t=2s Scan and sand and thought it was very similar to the navigation skill. The difference would be to make waypoints go back and forth rather than directly to its target. I have the 360 lidar working but putting the data points is very cumbersome and would require an excel spreadsheet or similar to put the data. If you look at the video things will be obvious to you on how they did it and maybe you can modify a skill or two to make it work.

Update-I believe what I was looking for is Intel Realsense or the RP Lidar which will give the distances  Thanks, Don