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There are two unrelated errors:

1. the rosdep install error: This is due to the packages lio_sam and rslidar_driver that exist in your workspace. The rosdep command will (most probably) also fail even without the velodyne repo in your workspace. The cause is that there are dependencies specified in the package.xml of those packages that are neither released ROS packages nor packages in your local workspace (i.e. GTSAM and rslidar_input).
2. the CMake error: catkin builds everything in the same CMake context. Within one context, no two targets (added with add_executable, add_library or add_custom_target) can share the same name. You do have a target with same name in the velodyne package as well as in rslidar_driver, namely driver_nodelet (pretty obvious from the first cmake error message, the rest of the error messages is caused by the first). Possible solutions:
   1. build the workspace in isolation (using either catkin_make_isolated or catkin-tools)
   2. rename on of the targets such that there is no more nameclash