Convert pcap to bag file

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Dear everyone,

I got som trouble when trying to convert a *.pcap file into a *.bag file.

I try the method explained here : https://answers.ros.org/question/2130...

In a first terminal I launch :
roscore
Then in second one, I launch :
rosrun rosbag record -o your_vlp16_070815.bag /velodyne_packets to open the recording file ?
and finally in the third one, I launch :
rosrun velodyne_driver velodyne_node _model:=VLP16 _pcap:=bureau.pcap _read_once:=true to play the pcap file.

I wait until the third command finish ("done" message), then CTRL+C the second command. I got a .*bag file. After this, I try to view it using RVIZ following this method : https://answers.ros.org/question/2272...

rosrun rviz rviz -f velodyne
rosrun velodyne_pointcloud cloud_node
rosbag play your_vlp16_070815.bag

I work with ROS Kinetic on Ubuntu 16.04.

Questions :

• I don't have calibration file (*.yaml) because I get no file from VLP16 distributor. Can you provide me a sample file even if it doesn't correspond to my sensor ?
• When I run the viewer, I get "No tf data. Actual error: Fixed Frame [velodyne] does not exist". I get no points on the screen. Any idea ?

Best regards, Boris Leroux