Hey Jeremie. Thanks for your helpful reply. I’m using a VLP16 (i saw the config file for a Velodyne 16 in the devel branch). Do you have by any chance a before/after shot of the latest version? I think it would be quite helpful to see what the output would look like 
As this topic got closed I’ve added a link to the ROS answer thread:
https://answers.ros.org/question/277191/create-2d-depth-image-from-sparse-360-degree-pointcloud/