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This is not an answer to your question, only a suggestion.

Instead of running both the driver and point cloud conversion nodes on the same machine you can reduce the communication bandwidth significantly by running the driver locally and the point cloud conversion on your other machine. To see what the effect would be:

$ rostopic bw /velodyne_packets
$ rostopic bw /velodyne_points

The point cloud is about four times bigger than the raw packets, and publishes at the same frequency.

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