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You can install the package from source rather than binary. If you look on the Github page for the repository it states that it works with ros kinetic. To do this:

cd /path/to/your/catkin_ws/src
git clone -b master https://github.com/ros-drivers/velodyne.git
cd /path/to/your/catkin_ws
catkin_make

You may have to install some dependencies etc, but the package should build fine. If you're unfamiliar with the catkin build system, have a look at the tutorials here.