Actuators used with 2d laser scanners to produce 3D images on ROS

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I have built several 3D LiDAR scanners for our lab using the technique you describe. There are a few factors to consider when choosing an actuator:

1. It needs to be able to accurately report its position in space and time. You'll need to precisely register each 2D LiDAR scan with the position of the actuator when that scan was captured, so this position feedback is very important however it is achieved.

2. You'll also want something which already has good ROS support; nobody want to re-invent the wheel.

3. The actuator also needs to be strong and precise enough to repeatedly follow exactly the same path, so that your 3D scans are consistent.

These requirements can be achieved just as well by a stepper motor system or a DC motor with an encoder, but I would recommend avoiding building something from parts if you can.

We use the FLIR ptu-46 for our 3D LiDAR scanners, there is a ROS driver avilable for this too. It's not the cheapest I have to say but it's strong, reliable and has very good position feedback.