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Just add the proper filename is gazebo plugin tags : libgazebo_ros_velodyne_laser

 <gazebo>
    <plugin name="gazebo_ros_velodyne_laser" filename="libgazebo_ros_velodyne_laser.so">
      <topicName>/velodyne_points</topicName>
      <frameName>velodyne</frameName>
    </plugin>
  </gazebo>

Just add the proper filename is gazebo plugin tags : libgazebo_ros_velodyne_laser

 <gazebo>
    <plugin name="gazebo_ros_velodyne_laser" filename="libgazebo_ros_velodyne_laser.so">
      <topicName>/velodyne_points</topicName>
      <frameName>velodyne</frameName>
    </plugin>
  </gazebo>

I have produced a video about it as well -> link