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First: Welcome, and thanks for making those packages available as binaries! The documentation on how to contribute a new rosdep rule is here:

http://docs.ros.org/independent/api/rosdep/html/contributing_rules.html

You are correct in that the dependencies need to be added to base.yaml. And I believe an effort should be made to add the dependencies for all supported platforms. That way, binaries for the ifm3d library will be built for all supported platforms as well!

Unfortunately I don't have any advice on the best way to find all those package names, except check on the online package listings for all the distros.