Velodyne outputs can be enabled with a click on Used button, besides each channel.

Velodyne LIDAR module outputs the following channels:

Output channel name Description
RPM Is the set frequency of LIDAR sensor rotation measured in Hz by default.
Laser intensity Represents the enery of the reflected laser pulse. Coloring of the points is related to the intensity.
Laser distance Represents the distance or depth of the laser pulse, which practically means the distance of the surrouning objects from the LIDAR sensor.
Latitude Represents the latitude data obtained from the GNSS device.
Longitude Represents the longitude data obtained from the GNSS device.
Altitude Represents the altitude data obtained from the GNSS device.
Direction Represents the direction data obtained from the GNSS device.
Velocity Represents the velocity data obtained from the GNSS device.
Used satellites Represents the used satellites data obtained from the GNSS device.
Absolute time Represents the absolute time obtained from the GNSS device.