# Revision history [back]

Thanks for the fast fast response! Unfortunately I have both your suggestions did not help. I can run other ros code in my console and I also sourced the setup.bash in every new terminal I opended. Also the velodyne.world file is calling the model name="my_velodyne".

Hence I will share the code with you now!

velodyne.world:

<?xml version="1.0" ?>
<sdf version="1.5">
<world name="default">
<!-- A global light source -->
<include>
<uri>model://sun</uri>
</include>
<!-- A ground plane -->
<include>
<uri>model://ground_plane</uri>
</include>

<!-- A testing model that includes the Velodyne sensor model -->
<model name="my_velodyne">
<include>
<uri>model://velodyne_hdl32</uri>
</include>

<!-- Attach the plugin to this model -->
<plugin name="velodyne_control" filename="libvelodyne_plugin.so">
<velocity>2</velocity>
</plugin>
</model>

</world>
</sdf>


velodyne_plugin.cc C:\fakepath\velodyne_plugin.cc

vel.cc C:\fakepath\vel.cc