How to put Hokuyo laser sensor on p2os?

edit

Or just create a laser link and add something similar to this:

  <link name="laser_scan_link" type="laser"> 
 <inertial> 
      <mass value="0.5" /> 
      <origin xyz="0 0 0" /> 
      <inertia ixx="0.3"  ixy="0.3"  ixz="0.3" iyy="0.3"  iyz="0.3"  izz="0.3" /> 
     </inertial> 
     <visual> 
       <origin xyz="0 0 0" rpy="0 0 0"/> 
       <geometry> 
         <cylinder length="0.1" radius="0.05" /> 
       </geometry> 
     </visual> 
     <collision> 
      <origin xyz="0 0 0" rpy="0 0 0"/> 
       <geometry> 
         <cylinder length="0.1" radius="0.05" /> 
       </geometry> 
     </collision> 
  </link> 

<joint name="laser_to_base_link" type="fixed"> 
  <origin xyz="0.25 0 0.32" rpy="0 0 0" /> 
  <parent link="base_link" /> 
  <child link="laser_scan_link"/> 
</joint> 

   <gazebo reference="laser_scan_link"> 
  <sensor:ray name="laser_scan_link"> 
     <rayCount>683</rayCount> 
     <rangeCount>683</rangeCount> 
     <laserCount>1</laserCount> 

         <origin>0.0 0.0 0.0</origin> 
         <displayRays>true</displayRays> 

         <minAngle>-105</minAngle> 
         <maxAngle>105</maxAngle> 

         <minRange>0.06</minRange> 
         <maxRange>4.0</maxRange> 
         <resRange>0.01</resRange> 
         <updateRate>10.0</updateRate> 

         <controller:gazebo_ros_laser name="gazebo_ros_base_scan_link_controller" plugin="libgazebo_ros_laser.so"> 
                <gaussianNoise>0.005</gaussianNoise> 
                <alwaysOn>true</alwaysOn> 
                <updateRate>20.0</updateRate> 
                <topicName>base_scan/scan</topicName> 
                <frameName>laser_scan_link</frameName> 
                <interface:laser name="gazebo_ros_base_scan_link_iface"/> 
         </controller:gazebo_ros_laser> 
        </sensor:ray> 
    </gazebo> 


  <gazebo>
   <controller:gazebo_ros_controller_manager name="gazebo_ros_controller_manager" plugin="libgazebo_ros_controller_manager.so">
      <alwaysOn>true</alwaysOn>
      <updateRate>1000.0</updateRate>
      <interface:audio name="gazebo_ros_controller_manager_dummy_iface" />
    </controller:gazebo_ros_controller_manager>
  </gazebo>