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I am out of town on vacation for the rest of this week.

Will answer what questions I can quickly, and leave the rest until I return, or maybe someone else will assist.

I have not seen that rosdep error and don't know why you are seeing it. Did you run sudo rosdep init and rosdep update?

1. The /velodyne_packets are binary data packets, rostopic echo is not useful, but rosptopic hz might be.

2. Not normal.

3. Try creating the desired test directory. There is probably something wrong with your permissions. Make sure they don't belong to root.

4. Maybe, or perhaps you used root when you should not have.

5. The node and nodelet both run the same driver code, but launch it differently. See: http://wiki.ros.org/nodelet

6. I don't have time to explain all the details of roslaunch and nodelets today. Try reading some tutorials. If you still need help, I'll provide more pointers next week.