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Step 3 in the tutorial has you create a ROS subscriber. The output of your rostopic info /my_velodyne/vel_cmd seems to say that there is a publisher, but not subscriber.

Here are things to try:

  1. Are you creating the subscriber, and is your code being exited correctly (use GDB or print statements)?
  2. Is the name of the topic correct? Try rostopic list to see all the topics, and check if one looks suspicious.