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Finally, I got it working with the help of Hokuyo customer service. I used the urgwidget_driver, that is a wrapper for ROS (http://sourceforge.net/projects/urgwidget). According to Hokuyo, it might work with the iri_hokuyo_laser driver too in Fuerte, but in Groovy not sure. If I get their consent, I am going to post their step by step guide later here.