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For this you will first need to understand how urdf works and John has written great tutorials for that http://ros.org/wiki/urdf/Tutorials (section 1 and 2). Then you will need to understand the Gazebo extensions for URDF (http://ros.org/wiki/urdf/Tutorials/UnderstandingPR2URDFGazeboExtension) and finally here is also an example of how to add the actual sensor: http://ros.org/wiki/urdf/Tutorials/AddingSensorsToPR2.
For the insertion of the hokuyo specifically you can check how it is being done for turtlebot: Sensor description: https://kforge.ros.org/turtlebot/turtlebot/file/fb8354a98ac5/turtlebot_description/urdf/gazebo.urdf.xacro (turtlebot_sim_laser) Sensor insertion into robot's urdf: https://kforge.ros.org/turtlebot/turtlebot/file/fb8354a98ac5/turtlebot_description/urdf/turtlebot_body.urdf.xacro (laser_joint)
Please also note that this shall probably be asked on http://answers.gazebosim.org/questions/.
D.
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