Quadcopter navigation with obstacle avoidance?

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Hi, I am trying to implement autonomous navigation with obstacle avoidance for quadcopter (which has Pixhawk). All I want to implement is quadcopter being able to move from point A to point B while avoiding obstacles. I am fine with the navigation being in 2D.

I am using Odroid connected to Pixhawk as the main controller. I am using Hokuyo URG-04LX-UG01 Scanning Laser Rangefinder for detecting obstacles.

What I figured out till now is there are two options to achieve navigation with obstacle avoidance. Use MAVROS somehow along with Navigation Stack / MoveIt. I guess as I am fine with navigation in 2D Navigation Stack should be what I should use. Is that correct?

Navigation stack requires 3 sort of data to function: Sensor Data, TF & Odometry data. I have LIDAR publishing sensor data, so thats fine.

My questions are:

1. How do I get TF and Odometry data (used by navigation stack) using MAVROS? What sort of data should I use? How do I do that?
2. Can I use MoveIt if I dont have map or anything and only 2D LIDAR data?
3. In future I want UAV to navigate in 3D. If answer to 2nd question is yes then should I switch to MoveIt instead? And any links for resources to read specifically about moveit and pixhawk will be very helpful.

Thanks!