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How can I read velodyne_msgs in c++ and also I want to publish that msg over rviz ?

I have a rosbag file. if I run the command rosbag info filename.bag I am getting following output.

path: data.bag
version: 2.0
duration: 3:48s (228s)
start: Sep 23 2016 12:26:58.43 (1474613818.43)
end: Sep 23 2016 12:30:46.55 (1474614046.55)
size: 486.2 MB
messages: 26301
compression: none [570/570 chunks]
types: geometry_msgs/PoseStamped [d3812c3cbc69362b77dc0b19b345f8f5]
vehicle_socket/CanInfo [605f4356821f92a8fec1a756259316df]
velodyne_msgs/VelodyneScan [50804fc9533a0e579e6322c04ae70566]
topics: /can_info 21743 msgs : vehicle_socket/CanInfo
/current_pose 2279 msgs : geometry_msgs/PoseStamped
/velodyne_packets 2279 msgs : velodyne_msgs/VelodyneScan

  1. I can see these above three topics.
  2. I want to publish this msgs on the above topics over rviz.

Any advice? I would appreciate.

How can I read velodyne_msgs in c++ and also I want to publish that msg over rviz ?

I have a rosbag file. if I run the command rosbag info filename.bag I am getting following output.

path:        data.bag 
version: 2.0
duration: 3:48s (228s)
start: Sep 23 2016 12:26:58.43 (1474613818.43)
end: Sep 23 2016 12:30:46.55 (1474614046.55)
size: 486.2 MB
messages: 26301
compression: none [570/570 chunks]
types: geometry_msgs/PoseStamped [d3812c3cbc69362b77dc0b19b345f8f5]
vehicle_socket/CanInfo [605f4356821f92a8fec1a756259316df]
velodyne_msgs/VelodyneScan [50804fc9533a0e579e6322c04ae70566]
topics: /can_info 21743 msgs : vehicle_socket/CanInfo
/current_pose 2279 msgs : geometry_msgs/PoseStamped
/velodyne_packets 2279 msgs : velodyne_msgs/VelodyneScan

velodyne_msgs/VelodyneScan
  1. I can see these above three topics.
  2. I want to publish this msgs on the above topics over rviz.

Any advice? I would appreciate.