Rover-3.3 (and Copter-3.6) support the RP Lidar A2 which is a fairly low cost 360 degree lidar. As part of the preparations for the start of beta testing I mounted the lidar on my beloved AION Robotics R1 rover and did a few object avoidance tests as shown in the video above.
Setup details are here on the wiki and thanks to @amilcarlucas and his team who wrote the driver!
By the way, this vehicle has an NVidia TX1 onboard which is primarily used for live video but in the future I plan to connect the lidar to the TX1 and use ROS for the non-GPS navigation. The battery ejected near the end of the test is the one powering the TX1.