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You should also make sure that: ros is setup in your console, the topic name is correct (for example, make sure you name your model "my_velodyne" in the world file).

If that doesn't help, please share your code.

You should also make sure that: ros is setup in your console, the topic name is correct (for example, make sure you name your model "my_velodyne" in the world file).Well,

If So I used the files you posted, and I compiled them on my machine. Without any changes, I was able to get the laser spinning. So my guess is that doesn't help, please share there's a problem in your code.model file (which you forgot to post). Here's a world file (that embeds a velodyne model) that worked for me. Try it out and let us know if it works (or not).

C:\fakepath\velodyne.world