velodyne VLP-32

edit

If you take a look at the velodyne tutorial you'll see that there's already a launch file that you can use. Just run

roslaunch velodyne_pointcloud 32e_points.launch calibration:=/home/user/32db.yaml

Note: set the calibration parameter to whatever your calibration file is.

Update:

It looks like it may not be supported:

This driver supports all current Velodyne HDL-64E, HDL-32E and VLP-16 models.

but the wiki says nothing about the 32C. Maybe you should file an issue.