conv.sh

#! /bin/bash
converter=~/velodyne-tools/build/convert
workspace=$(pwd)
for folder in m*; do
    cd $workspace
    mkdir ${folder}-pcd
    cd $folder
    for file in velodyneShot.pos.*; do
        inc=${file#velodyneShot.pos.}
        $converter velodyneShot.$inc velodyneShot.pos.$inc ../${folder}-pcd/shot.0${inc}.pcd
    done
done

scan.tcl

set folder_inc 1

incr folder_inc
mkdir /tmp/scan-${folder_inc}
velodyne::SetSaveParams /tmp/scan-${folder_inc}/velodyneShot 0
for {set i 0} {$i < 30} {incr i} {
    velodyne::OneShot -180.0 180.0
    velodyne::Save
    sleep 0.1
}