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I used

KERNEL=="ttyACM[0-9]*", ACTION=="add", ATTRS{idVendor}=="15d1", MODE="0666", GROUP="dialout", PROGRAM="/bin/sh -c '$(find /opt/ros -name env.sh | sort -r | head -1) rosrun urg_node getID %N q'", SYMLINK+="sensors/hokuyo_%c"

udev rule from

https://answers.ros.org/question/172765/giving-hokuyo-persistent-device-names/?answer=261632#post-id-261632

to solve the problem.

Thanks