velodyne HDL -64E S2 launch file configuration

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Hello All,

I am currently working with velodyne HDL -64E S2 model of LiDAR and am trying to get data using ROS package with modifying to the launch file configuration.

 <launch>
    <!-- pointcloud cloud_nodelet -->
      <arg name="velodyne_calibration" default="$(find velodyne_pointcloud)/params/hdl64e_s2_calib.yaml" />
      <!-- <arg name="velodyne_calibration" default="" /> -->
      <arg name="min_range" default="2.0" />
      <arg name="max_range" default="65.0" />
      <node pkg="nodelet" type="nodelet" name="cloud_nodelet"
            args="load velodyne_pointcloud/CloudNodelet velodyne_nodelet_manager">
        <param name="calibration" value="$(arg velodyne_calibration)"/>
        <param name="min_range" value="$(arg min_range)"/>
    <param name="max_range" value="$(arg max_range)"/>
  </node>

  <!-- start nodelet manager and load driver nodelet -->
  <node pkg="nodelet" type="nodelet" name="velodyne_nodelet_manager"
        args="manager" />
  <arg name="model" default="64E_S2" />
  <arg name="pcap" default="" />
  <arg name="read_once" default="true" />
  <arg name="read_fast" default="true" />
  <arg name="repeat_delay" default="0.0" />
      <!-- rotating parameter -->
      <!-- 1) if your setting rpm is 1200(20Hz) -->
      <!-- <arg name="rpm" default="850.0" /> -->
      <!-- 2) if your setting rpm is 900(15Hz) -->
      <!-- <arg name="rpm" default="850.0" /> -->
  <!-- 3) if your setting rpm is 600(10Hz) -->

  <arg name="rpm" default="570.0" />

  <!-- 4) if your setting rpm is 300(5Hz) -->
  <!-- <arg name="rpm" default="290.0" /> -->

  <arg name="frame_id" default="velodyne" />

      <node pkg="nodelet" type="nodelet" name="driver_nodelet"
            args="load velodyne_driver/DriverNodelet velodyne_nodelet_manager" >
        <param name="model" value="$(arg model)"/>
        <param name="pcap" value="$(arg pcap)"/>
        <param name="read_once" value="$(arg read_once)"/>
        <param name="read_fast" value="$(arg read_fast)"/>
        <param name="repeat_delay" value="$(arg repeat_delay)"/>
        <param name="rpm" value="$(arg rpm)"/>
        <param name="frame_id" value="$(arg frame_id)"/>
      </node>
</launch>

//=========================================================================================== Calibration file : hdl64e_s2_calib.yaml

lasers:
- {dist_correction: 0.981637605, dist_correction_x: 0, dist_correction_y: 0, focal_distance: 0,
  focal_slope: 0, horiz_offset_correction: 0.025999999, laser_id: 0, max_intensity: 255,
  min_intensity: 0, rot_correction: -0.09709912400667693, vert_correction: -0.12678532453409336,
  vert_offset_correction: 0.19740748}
- {dist_correction: 1.2924338, dist_correction_x: 0, dist_correction_y: 0, focal_distance: 0,
  focal_slope: 0, horiz_offset_correction: -0.025999999, laser_id: 1, max_intensity: 255,
  min_intensity: 0, rot_correction: -0.06057167088908498, vert_correction: -0.12094779159811801,
  vert_offset_correction: 0.19783373}
- {dist_correction: 1.270309331, dist_correction_x: 0, dist_correction_y: 0, focal_distance: 0,
  focal_slope: 0, horiz_offset_correction: 0.025999999, laser_id: 2, max_intensity: 255,
  min_intensity: 0, rot_correction: 0.0384232803656565, vert_correction: 0.003765600221055326,
  vert_offset_correction: 0.20684389}
- {dist_correction: 1.2513616650000001, dist_correction_x: 0, dist_correction_y: 0,
  focal_distance: 0, focal_slope: 0, horiz_offset_correction: -0.025999999, laser_id: 3,
  max_intensity: 255, min_intensity: 0, rot_correction: 0.07774204553728, vert_correction: 0.008671371682560988,
  vert_offset_correction: 0.20719664999999998}
- {dist_correction: 1.0604789110000001, dist_correction_x: 0, dist_correction_y: 0,
  focal_distance: 0, focal_slope: 0, horiz_offset_correction: 0.025999999, laser_id: 4,
  max_intensity: 255, min_intensity: 0, rot_correction: -0.02274002397859877, vert_correction: -0.11631209238506594,
  vert_offset_correction: 0.1981718}
- {dist_correction: 1.3109244240000002, dist_correction_x: 0, dist_correction_y: 0,
  focal_distance: 0, focal_slope: 0, horiz_offset_correction: -0.025999999, laser_id: 5,
  max_intensity: 255, min_intensity: 0, rot_correction: 0.01614102308860006, vert_correction: -0.10965216030555087,
  vert_offset_correction: 0.19865684000000003}
- {dist_correction: 1.084458345, dist_correction_x: 0, dist_correction_y: 0, focal_distance: 0,
  focal_slope: 0, horiz_offset_correction: 0.025999999, laser_id: 6, max_intensity: 255,
  min_intensity: 0, rot_correction: -0.03625398445841397, vert_correction: -0.1508442868471072,
  vert_offset_correction: 0.19564366}
- {dist_correction: 1.3612504920000001, dist_correction_x: 0, dist_correction_y: 0,
  focal_distance: 0, focal_slope: 0, horiz_offset_correction: -0.025999999, laser_id: 7,
  max_intensity: 255, min_intensity: 0, rot_correction: 0.003226443580504749, vert_correction: -0.14504506388821317,
  vert_offset_correction: 0.19606992}
- {dist_correction: 0.9976554000000001, dist_correction_x: 0, dist_correction_y: 0,
  focal_distance: 0, focal_slope: 0, horiz_offset_correction: 0.025999999 ...