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If I understand your question correctly (from the comments above), you want to know how to correctly turn a tilting 2D laser into a "3D" laser. In short, you'll need the tilt angle, plus some geometry, so that you can describe the 3D rays the laser is casting as it tilts. Any servo with an encoder (like, say, the AX=12+ you mention) can provide this information directly.

You'll still need to do the calibration by hand (for example, how far above the axle of your servo is your laser's center of projection?), but then you can describe the whole thing to ROS by way of a set of tf frames and it can figure the rest out for you.