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Use this udev rule:

# Hokuyos
SUBSYSTEMS=="usb", KERNEL=="ttyACM[0-9]*", ATTRS{manufacturer}=="Hokuyo Data Flex for USB", ATTRS{product}=="URG-Series USB Driver", MODE="0666", GROUP="dialout", PROGRAM=="/etc/ros/run.sh hokuyo_node getID %N q", SYMLINK+="sensors/hokuyo_%c"

It's gonna need /etc/ros/run.sh, which basically is:

#!/bin/sh
. /etc/ros/setup.sh 
rosrun $@

Where /etc/ros/setup.sh is a symlink to your ROS setup.sh file in /opt/ros/???/setup.sh.

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