Didn't know about it but I will check it out. I should have the sweep working withe google cartographer doing live maps later today. I had to fiddle around with the kernel to get the carrier board IMU to get some tf messages so it will work. Easier than grabbing them from the pixhawk mavlink feed. For 3-d you need a pair of scanners. You use one 360deg lidar and one mounted 90deg to it. Take the output from those creates the 3-d map and if you turn them on does the path planning and cost map. Or you can use one of the ones that work with ROS. The map quality is awesome. Best I've seen so far. Really sharp. Wish I had two of them so I could set it up that way. Cartographer was designed around lidar. But it can also use the sweep plus a rgbd cam to register the lidar data. I have a ZED and ZR300 Realsense so I'll be trying that out soon. I've been playing around with vision and lidar systems for a couple of years now. Retired so I have lots of time. This is pre-sweep
Tried a belt but with the cheap plastic slip ring it didn't last very long. Worked better with the nylon chain but the sip ring would get loose and the beam would flop around before it eventually was too loose to use. Small motor with encoder. Modified a ROS driver I found for the Lidar Lite to get the angle and depth readings. This is a short vid of cartographer running on a TX1 using a bag file. Easy build if you use the procedure on their doc site. If you just download the repo and try to use make its a pain. It wants ninja. Couple of hours to build it.
When I zoom in on the area with the green scan lines you can see the two lidars working. I'll post up another one once I have it doing live maps. Nice job on the spherical scan device.