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You can get unpacked data in the ROS standard Pointcloud2 format by using cloud_node (or its nodelet equivalent) in the velodyne_pointcloud package. See usage and examples here.

If you have the device plugged in, the following commands should do it:

rosrun velodyne_driver velodyne_node _model:=32E
rosrun velodyne_pointcloud cloud_node _calibration:=calibration.yaml

You can generate the calibration.yaml from the db.xml file provided by Velodyne using the gen_calibration utility.