Reading from LIDAR Connected to serial using Pymavlink or other ways

I have a Benewake lidar TF03 which is connected to my Telem 2 Orange Cube Here 3,

I read here Benewake TF02 / TF03 lidar/ TF-Luna — Copter documentation it explains how to connect and view the results using Mission Planner.

But question is I am using Mavproxy, MAVSDK and Pymavlink. Just wonder anyway to read the results of the lidar scan using script?

I like to program it to autonomously loiter whenever there is obstacle in front.

You may need to read the mavlink messages through pymavlink


Are you aware that there is alibrary that does avoidance ?