The ROS velodyne driver has been around for several years an an
experimental stack, mostly used in-house at the University of Texas,
Austin.

 http://ros.org/wiki/velodyne

There is interest in supporting more device models, so it is time to
do a formal API review to ensure we meet everyone's requirements.

I created a review page here:

 http://ros.org/wiki/velodyne/Reviews/2012-02-02_API_Review

If you are interested, please add your name as a reviewer and post
your comments and questions there.
-- 
 joq