diff --git a/recipes-ros/velodyne/velodyne-driver_1.2.0.bb b/recipes-ros/velodyne/velodyne-driver_1.3.0.bb
similarity index 51%
rename from recipes-ros/velodyne/velodyne-driver_1.2.0.bb
rename to recipes-ros/velodyne/velodyne-driver_1.3.0.bb
index bcbe20f..89d2802 100644
--- a/recipes-ros/velodyne/velodyne-driver_1.2.0.bb
+++ b/recipes-ros/velodyne/velodyne-driver_1.3.0.bb
@@ -1,9 +1,9 @@
 DESCRIPTION = "ROS device driver for Velodyne HDL-64E, and HDL-32 LIDARs."
 SECTION = "devel"
 LICENSE = "BSD"
-LIC_FILES_CHKSUM = "file://package.xml;beginline=13;endline=13;md5=d566ef916e9dedc494f5f793a6690ba5"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=14;endline=14;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-DEPENDS = "diagnostic-updater libpcap nodelet pluginlib roscpp tf velodyne-msgs"
+DEPENDS = "diagnostic-updater dynamic-reconfigure ${PYTHON_PN}-rospkg libpcap nodelet pluginlib roscpp tf velodyne-msgs"
 
 require velodyne.inc
 
diff --git a/recipes-ros/velodyne/velodyne-msgs_1.2.0.bb b/recipes-ros/velodyne/velodyne-msgs_1.3.0.bb
similarity index 100%
rename from recipes-ros/velodyne/velodyne-msgs_1.2.0.bb
rename to recipes-ros/velodyne/velodyne-msgs_1.3.0.bb
diff --git a/recipes-ros/velodyne/velodyne-pointcloud_1.2.0.bb b/recipes-ros/velodyne/velodyne-pointcloud_1.3.0.bb
similarity index 100%
rename from recipes-ros/velodyne/velodyne-pointcloud_1.2.0.bb
rename to recipes-ros/velodyne/velodyne-pointcloud_1.3.0.bb
diff --git a/recipes-ros/velodyne/velodyne.inc b/recipes-ros/velodyne/velodyne.inc
index 6fb18f9..b5d965d 100644
--- a/recipes-ros/velodyne/velodyne.inc
+++ b/recipes-ros/velodyne/velodyne.inc
@@ -1,6 +1,6 @@
 SRC_URI = "https://github.com/ros-drivers/${ROS_SPN}/archive/${ROS_SP}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "72417eb244903e824bd775ab74879982"
-SRC_URI[sha256sum] = "b767ccd50aa8981884398c88a1b292e43e27410fdb5801684cef7bfa8e8cd667"
+SRC_URI[md5sum] = "f832dfb305fc68cc4214c706cc53428d"
+SRC_URI[sha256sum] = "7adfb3efaf89a6576f796e40ef32041175e911589cfc75cbf6d10e62fd66c3c2"
 
 S = "${WORKDIR}/${ROS_SPN}-${ROS_SP}/${ROS_BPN}"