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I faced the same problem with you. It was because I needed to export the path first before running gazebo. As a result, the gazebo PLUGIN did not properly load.

If you run

gazebo --verbose velodyne.world

you can see an error message saying that the program couldn't find the lib for velodyne_plugin

What you should do:

export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:~/velodyne_plugin/build

gazebo velodyne.world

Then It should work fine.