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It is possible to set up two Hokuyo LIDARs, one mounted scanning in the horizontal plane and one mounted at a right-angle scanning in the vertical plane. Together, they produce 3D scans. I do not have any idea how this would be set up in terms of ROS software, but it should be possible to do it. Autonomous drone builders would have tried this 3D mapping in order to have a drone fly autonomously through a window in a wall as part of a robot challenge.