2015-11-24 10:49:31 -0600 answered a question How to simulate a Velodyne sensor? I know this answer is very late one, but I will post just for a reference. The following worked for me on Gazebo5.1, although it took a bit of time to load. It might be a good idea to reduce the number of samples at first. This worked, but the data seemed to have a weird orientation and were published as sensor_msgs/Pointcloud, not Pointcloud2. I couldn't withstand the inconvenience so I modified the source of plugin in the end.  true 0.0 0.0 0.0 0.0 0.0 0.0 500 0 6.24 16 -0.2617993878 0.2617993878 0.05 50.0 0.00 1 true 5 gazebo_vlp base_link