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1. RingColors is mostly just a demo of how to get the ring number for each laser. It assigns rainbow colors to each successive laser, allowing you to figure out what laser generates each point in the rviz display.
2. The two nodelets run as separate threads in the same nodelet manager process. The /velodyne_packets messages flow between them using zero-copy pointers. I do not recommend trying to combine them into a single nodelet.
3. /hydro/lib/libtransform_nodelet.so
4. Parameters are specifically provided so you can change them.
5. Transform node is a different implementation, but the resulting point clouds should be the same.
6. frame_id is a field in the message header, i.e: msg.header.frame_id. See std_msgs/Header.
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