VPointCloud and VPoint not found

[LightwishWONG]

• OS: Ubuntu 20.04
• ROS Version: noetic
• Installed by running sudo apt-get install ros-noetic-velodyne*

Hi everyone. I had compiling errors about VPoint and velodyne_rawdata::VPointCloud when building a project. The errors said ‘VPoint’ does not name a type and ‘velodyne_rawdata::VPointCloud’ has not been declared, from the following code:

#include "velodyne_pointcloud/calibration.h"
#include "velodyne_msgs/VelodyneScan.h"
#include "velodyne_pcl/point_types.h"
#include <velodyne_pointcloud/rawdata.h>

typedef VPoint PointT;

velodyne_msgs::VelodyneScan::ConstPtr scan = m.instantiate<velodyne_msgs::VelodyneScan>();
velodyne_rawdata::VPointCloud::Ptr
  outMsg(new velodyne_rawdata::VPointCloud());
outMsg->header.stamp = pcl_conversions::toPCL(scan->header).stamp;
outMsg->header.frame_id = scan->header.frame_id;
outMsg->height = 1;

I cloned the velodyne source code (master branch) and searched these two variables, and found in a changelog that moved definition of VPoint and VPointCloud back to namespace rawdata in rawdata.h. But I didn't find them in velodyne_pointcloud/rawdata.h or anywhere else in the source code. I've googled it but supprisingly few related discussions. I'm a beginner of the velodyne library and have no idea what I missed. Could anyone help me? Really appreciate it!