This fork includes an additional package (run_scan) to the mandala-mapping packages to enable autonomous scanning in a straight line. It also provides some launch files to filter the point clouds.
For full blog post discussing mapping unit and results see: https://www.clearpathrobotics.com/2017/07/rapid-outdoorindoor-3d-mapping-husky-ugv/
For YouTube video of results, see: https://youtu.be/gpJlrqSyIJo