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Here is the more fancy udev solution that we use (needs the hokuyo_node package) and /etc/ros/run.sh:
SUBSYSTEMS=="usb", KERNEL=="ttyACM[0-9]*", ATTRS{manufacturer}=="Hokuyo Data Flex for USB", ATTRS{product}=="URG-Series USB Driver", MODE="0666", GROUP="dialout", PROGRAM=="/etc/ros/run.sh hokuyo_node getID %N q", SYMLINK+="sensors/hokuyo_%c"
Besides access rights this uses the getID util in hokuyo_node to provide device symlinks as /dev/sensors/hokuyo_SERIAL to enable identifying specific sensors neverminds which ttyACM they land at.
/etc/ros/run.sh enables ROS
#!/bin/sh
. /etc/ros/setup.sh
rosrun $@
/etc/ros/setup.sh is a symlink to the setup.sh in /opt/ros/DISTRO/setup.sh
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