Get data from Hokuyo in cpp

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You can use the urg_node. All you have to do is to run this node and you can create then another node with a subscriber to a message of type sensor_msgs/LaserScan. The topic name will be most probably /scan.

Before writing the subscriber, I recommend you to plug the Hokuyo, ron the urg_node and then try to visualize it in RViz.

Actually, after googling for 5 seconds I found this with a much more detailed answer.