The Velodyne LIDAR is becoming an integral part of a self-driving car. Because of high demand, there are enough software modules available for working with this sensor. We are going to simulate two popular models of Velodyne, called HDL-32E and VLP-16. Let's see how to do it in ROS and Gazebo.
In ROS-Kinetic and Indigo, we can install from a binary package or compile from source code. Here is the command to install Velodyne packages on ROS Kinetic:
$ sudo apt-get install ros-kinetic-velodyne-simulator
In ROS Indigo, just replace the ROS distribution name:
$ sudo apt-get install ros-indigo-velodyne-simulator
To install it from source code, just clone the source package to the ROS workspace using the following ...
