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I do not know of any support for RADAR sensors in ROS at this time (which doesn´t mean it doesn´t exist somewhere, only that their use is very uncommon). LIDAR based sensing (SLAM, point cloud processing etc.) however is ubiquitous in the ROS world, so from an availability standpoint LIDAR sensors are the clear winners. It also appears to me that Velodyne type sensors are still the main sensor for 360deg coverage object detection, collision avoidance etc. on most (highly) autonomous car projects (certainly the Google one). Caveats due to cost or the desire to have a "clean" car configuration apply of course.
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