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Tutorial Level:
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