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The velodyne device outputs the scan samples in "packets" of fixed size, simply filling up each packet one after the other. This means that the first sample of a new scan does not usually align with the start of a packet. That "overflow warning" is the ros velodyne driver telling you that it detected the start of a new scan in the middle of a packet... then the ros driver discards the remaining scan samples until end-of-packet is reached. This causes those samples from the beginning of the scan to be lost. This bug has been in there for many years, unfixed.