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You can find the URDF description of VLP16 in the package velodyne_description.

Here is the direct link to the VLP-16.urdf.xacro file: https://bitbucket.org/DataspeedInc/velodyne_simulator/raw/b2b4496e8150c4e4082a0b8227922a721f4dc91d/velodyne_description/urdf/VLP-16.urdf.xacro

Good luck!

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