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Hi,

If you subscribe run the velodyne_driver you can subscribe "velodyne_packets" (format: velodyne_msgs::VelodyneScan) topic, instead of "velodyne_points" (format: velodyne_msgs::Pointcloud2) and then you will have range of each laser, rotation, intensity and other informations nedded.

With velodyne_points you only have the points XYZ, intensity and laser ring at least.

Good luck

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