HRIM defines a LIDAR (Light Detection and Ranging o Laser Imaging Detection and Ranging) as
A detection system which determines the distance from a laser emitter to an object or surface.

So, apart from the common requirements (ID, Status, Power, Specs and Simulation, detailed in HRIM component model section), all LIDAR will contain a topic referring to scan an environment in a planar way.

HRIM component model: LIDAR
/hrim_sensor_lidar_<instance_id>/id hrim_generic_msgs/msg/ID.msg topic (Sub) M Component identification.
/hrim_sensor_lidar_<instance_id>/status hrim_generic_msgs/msg/Status.msg topic (Sub) M How the module is working.
/hrim_sensor_lidar_<instance_id>/power hrim_generic_msgs/msg/Power.msg topic (Sub) M Describes the power supply type and give the information about the module power consumption.
/hrim_sensor_lidar_<instance_id>/specs_comm hrim_generic_msgs/msg/SpecsCommunication.msg topic (Sub) M Published the capabilities in term of communicaction that the component offers.
/hrim_sensor_lidar_<instance_id>/state_comm hrim_generic_msgs/msg/StateCommunication.msg topic (Sub) M Published the resources that the component is using at the moment.
/hrim_sensor_lidar_<instance_id>/module_3d hrim_generic_msgs/msg/Simulation3D.msg topic (Sub) M Ask for the 3D model of the HRIM component.
/hrim_sensor_lidar_<instance_id>/module_urdf hrim_generic_msgs/msg/SimulationURDF.msg topic (Sub) M Ask for the information of,3D model of the HRIM component.
/hrim_sensor_lidar_<instance_id>/specs hrim_sensor_lidar_msgs/msg/SpecsLIDAR.msg topic (Sub) M Device features.
/hrim_sensor_lidar_<instance_id>/laser_scan hrim_sensor_lidar_msgs/msg/LidarScan.msg topic (Sub) M Environment information.
/hrim_sensor_lidar_<instance_id>/reconfiguration hrim_sensor_imu_msgs/msg/Reconfiguration.msg topic (Sub) O Dynamic reconfiguration of H-ROS systems. The integration of an IMU sensor is needed.
frame_id string M Sets the TF frame from which the LIDAR is publishing.
angle_start double rad M Start point of scanning angle in radiands.
angle_end double rad M End point of scanning angle in radiands.
angle_increment double rad M Resolution of laser scan in radians per radians.
scan_time double s M Time between scans in seconds.
time_increment double s M Time between scans in seconds.
distance_min double m M The minimum distance to return in meters.
distance_max double m M The maximum distance to return in meters.
angular_velocity double rad/s O Device rotation speed in radians per second.
intensity float [0 - 100]% O LIDAR intensity value.