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This error arised because of some broken dependencies or some inconsistencies with my compiling of libyaml-cpp package.

To solve this error, I had to recomplile libyaml-cpp package.

Steps for that are

ccmake ..

Then

set the option BUILD_SHARED_LIBS to ON

Then generate, make and install.

After this, just running catkin_make compiled the velodyne ROS driver successfully!