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Yes, I think you've got the gist of it. You would want to create a BrickPi_ROS package that handles the communication between ROS and the BrickPi. Here is an examples of a similar ros driver for a motor controller.

https://github.com/smd-ros-devel/kangaroo_x2_driver

It would probably subscribe to a cmd_vel topic and publish encoder data if there is any

Then you may want to use a mapping package like gmapping to turn your LIDAR data into a occupancy map And a package like AMCL to figure out where you are in the map And then finally a package like move_base to navigate around autonomously.

Hope that helps