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There's an actively maintained wrapper or urgwidget here: https://github.com/ros-drivers/urg_node

Eventually, this may replace hokuyo_node as the recommended hokuyo driver - even for PR2.

To install:

sudo apt-get install ros-groovy-urg-node

To run (for ethernet):

rosrun urg_node urg_node _ip_address:="192.168.0.10"

There's an actively maintained wrapper or for urgwidget here: https://github.com/ros-drivers/urg_node

Eventually, this may replace hokuyo_node as the recommended hokuyo driver - even for PR2.

To install:

sudo apt-get install ros-groovy-urg-node

To run (for ethernet):

rosrun urg_node urg_node _ip_address:="192.168.0.10"