Spinning lidar - how does base rotation affect it?

[vv_eev]

I'm working on a project with 2 small teams. The team I'm on for lidar data acquisition, and the other for a rotating base for other equipment.  The other team insists on mounting the lidar on their rotating mechanism.  The base will use steppers so movement may be a bit jittery too.  The lidar unit spins rapidly while acquiring in 3D, but it acquires data fairly slowly and I'm worried this will cause significant issues with our data, which is used to tell the base how to turn to face an object.

The lidar unit comes with basically zero documentation, but querying the base rotation and compensating for each data point may not be feasible d/t the way the lidar scans in batches of points.  Scanning only when the base isn't moving will preclude the feature of tracking motion.

What are people's thoughts on correcting this data?  Anything else that can be done without making the lidar base stationary?