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This should be fine:

SUBSYSTEMS=="usb", ATTRS{idVendor}=="15d1", ATTRS{idProduct}=="0000", MODE="0666", SYMLINK+="lidar_hokuyo"

This also adds a symlink as /dev/lidar_hokuyo so that you do not need to configure your port if it changes.

After you add this rule run:

sudo udevadm control --reload-rules && sudo service udev restart && sudo udevadm trigger

to changes take effect.

This should be fine:

SUBSYSTEMS=="usb", ATTRS{idVendor}=="15d1", ATTRS{idProduct}=="0000", MODE="0666", SYMLINK+="lidar_hokuyo"

This also adds a symlink as /dev/lidar_hokuyo so that you do not need to configure your port if it changes.

After you add this rule run:

sudo udevadm control --reload-rules && sudo service udev restart && sudo udevadm trigger

for changes to changes take effect.