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ROS works with topics. On these topics you can publish data. Other nodes can subscribe to these topics to receive the data when it's published. Nav2 has a bunch of subscribers. One of these subscribes to a topic to receive lidar data (/scan I believe).
That RP lidar has a ROS2 driver (that functions pretty much the same as any driver) it receives the data from the device (in this case the lidar) and makes that data available. In ROS terms "making it available" means publishing it on a topic.
You need to install the ROS2 driver for it (the README has installation and run instructions).
Once you've run it, you should be able to see the topic if you run ros2 topic list.
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