code clean for velodyne driver

modules/drivers/velodyne/velodyne_driver/launch/driver_nodelet.launch

@@ -6,7 +6,7 @@
   <arg name="firing_data_port" default=""/>
   <arg name="rpm" default="600.0" />
   <arg name="frame_id" default="velodyne64" />
-  <arg name="topic" default="/apollo/sensor/veldyne64/VelodyneScanUnified" />
+  <arg name="topic" default="/apollo/sensor/velodyne64/VelodyneScanUnified" />
   <arg name="node_name" default="driver_nodelet"/>
 
   <node pkg="nodelet" type="nodelet" name="$(arg node_name)"

modules/drivers/velodyne/velodyne_driver/launch/start_velodyne_driver.launch

@@ -6,7 +6,7 @@
   <arg name="firing_data_port" default=""/>
   <arg name="rpm" default="600.0" />
   <arg name="frame_id" default="velodyne64" />
-  <arg name="topic" default="/apollo/sensor/veldyne64/VelodyneScanUnified" />
+  <arg name="topic" default="/apollo/sensor/velodyne64/VelodyneScanUnified" />
   <arg name="node_name" default="driver_nodelet"/>
 
   <node pkg="nodelet" type="nodelet" name="velodyne_nodelet_manager" output="screen" args="manager" />

modules/drivers/velodyne/velodyne_msgs/msg/VelodyneScanUnified.msg

 #velodyne lidar scan packets
 
 Header           header         #standard ros message header
-uint64          basetime       #time to the top of hour
+uint64           basetime       #time to the top of hour, only for VLP16 & HDL32
 VelodynePacket[] packets        #vector of raw packets

modules/drivers/velodyne/velodyne_pointcloud/CMakeLists.txt

@@ -104,7 +104,7 @@ target_link_libraries(compensator_nodelet
 	${catkin_LIBRARIES}
     ${PCL_LIBRARIES})
 
-add_executable(velodyne_parser_utest tests/unit_test_velodyne_parser.cpp)
+add_executable(velodyne_parser_utest test/unit_test_velodyne_parser.cpp)
 target_link_libraries(
     velodyne_parser_utest 
     gtest
@@ -118,7 +118,7 @@ if (CATKIN_ENABLE_TESTING)
   find_package(roslaunch REQUIRED)
   find_package(rostest REQUIRED)
 
-  add_executable(verify_pointcloud tests/verify_pointcloud.cpp)
+  add_executable(verify_pointcloud test/verify_pointcloud.cpp)
   target_link_libraries(
     verify_pointcloud 
     gtest
@@ -126,7 +126,7 @@ if (CATKIN_ENABLE_TESTING)
     ${PROJ_LIBRARY} 
     velodyne_parser)
   
-  add_executable(verify_compensator tests/verify_compensator.cpp)
+  add_executable(verify_compensator test/verify_compensator.cpp)
   target_link_libraries(
     verify_compensator 
     gtest
@@ -165,8 +165,8 @@ install(DIRECTORY launch/
         DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
 install(DIRECTORY params/
         DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/params)
-install(DIRECTORY tests/
-        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/tests
+install(DIRECTORY test/
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/test
         FILES_MATCHING PATTERN "*.msg")
 install(DIRECTORY scripts/
         DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts)

modules/drivers/velodyne/velodyne_pointcloud/launch/rosbag_replay.launch

@@ -3,7 +3,7 @@
   <arg name="start" default="0" />
   <arg name="loop" default="" />
   <arg name="required" default="true" />
-  <arg name="bag" default="/home/work/bag_files/packets.bag"/>
+  <arg name="bag" default=""/>
   <node pkg="rosbag" type="play" name="replay" 
     args="--clock --rate=$(arg rate) --start=$(arg start) $(arg bag)" required="$(arg required)">
     <param name="rate" value="$(arg rate)"/>