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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.

<sensor name="sensor_ray" type="ray">
    <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
    <plugin name="plugin_1" filename="">