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The VelodyneScan is just raw UDP packets, and the interpretation depends on which type of sensor generated the packets. There is nothing in ROS to convert backwards from PointCloud2 to VelodyneScan because that's not really useful.

I am not aware of anything that simulates the Velodyne laser scanners at the UDP packet level. It is much simpler to simulate the PointCloud2 directly, and that is the standard format for 3D data. I recommend comparing real and simulated data using the PointCloud2 format.

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