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In this case you have to convert encoder ticks into nav_msgs/Odometry Messages. Take a look at navigation/Tutorials/RobotSetup/Odom in the wiki to basically understand what is required.

Which might be (there a multiple options available):

Find out what needs to be done to convert the information from your hall sensors into a position. This is very robot specific.
Port the code from the wiki to your arduino on your robot using rosserial to publish the Odometry. Rosserial is of course only one way to connect an arduino to your PC, but you should try it.

Depending on your vehicle you might also be able to use the differential_drive package.

In this case you have to convert encoder ticks into nav_msgs/Odometry Messages. Take a look at navigation/Tutorials/RobotSetup/Odom in the wiki to basically understand what is required.

Which might be (there a multiple options available):

Find out what needs to be done to convert the information from your hall sensors into a position. This is very robot specific.
Port the code from the wiki to your arduino on your robot using rosserial to publish the Odometry. Rosserial is of course only one way to connect an arduino to your PC, but you should try it.

Depending on your vehicle you might also be able to use the differential_drive package.

If you publish both, the position of your lidar relative to the robot and the position of the robot as tf tf (as described in the Odometry tutorial), then yes, you also have the position of the lidar in the odom frame and rviz will display it properly.