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Well according to the documentation velodyne_node captures Velodyne 3D LIDAR data and publishes it in raw form. This uses the same device driver class as velodyne_driver/DriverNodelet.
I guess you have been looking at this answer. Looks like the next thing yo need to do is convert the velodyne_msgs/VelodyneScan into sensor_msgs/PointCloud2 by using the CloudNodelet from velodyne_pointcloud or the cloud_node.