This ROS stack provides 3D mapping tools for robotic applications. Look into the individual packages for more information about these tools.

Get the ethzasl_mapping stack:

git clone --recursive git://github.com/ethz-asl/ros-mapping.git ethzasl_mapping

Make sure that it is included in your ROS_PACKAGE_PATH:

export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:`pwd`/ethzasl_mapping

Then, to compile all packages, just run:

rosmake --rosdep-install ethzasl_mapping

Information about this stack is available on the ROS wiki at http://www.ros.org/wiki/ethzasl_mapping.