Support has been added for the Velodyne LiDAR sensor. You can connect to and stream point clouds from the following Velodyne LiDAR models: HDL-32E, VLP-32C Ultra Puck, VLP-16 Puck, VLP-16 Puck Lite, and VLP-16 Puck Hi-Res.
Get Started with Velodyne LiDAR Sensor Acquisition
Requirements and getting started information