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Install

First you have to get the urg_node package. You can install it using

$ sudo apt-get install ros-%DISTRO%-urg-node

Testing Your Sensor

Make sure that the urg_node will be able to access the Hokuyo laser scanner.

$ rosrun urg_node getID /dev/ttyACM0

You will see something similar to:

Device at /dev/ttyACM0 has ID H1111993

Running the urg_node

Starting a roscore

For the hokuyo_node to work properly, a ros core must be running. In a new terminal:

$ roscore