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This worked for me. If your Velodyne scans are in scans.bag

In separate terminal sessions run the following:

roscore

Run the nodelet:

rosrun nodelet nodelet standalone velodyne_pointcloud/CloudNodelet

Use rosbag record to record the point cloud messages:

rosrun rosbag record -O pointcloud.bag /velodyne_points

And finally play your bag containing the VelodyneScan:

rosbag play scans.bag

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