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I just got the answer myself.

First I cloned hokuyo_node (git) into ~/catkin_ws/src. Afterwards I called catkin_make which resulted in telling me, that the driver_common package (git) is missing. Cloning this one, too, and I could run catkin_make successfully.
After sourcing ~/catkin_ws/devel/setup.bash again, I was able to call rosrun hokuyo_node hokuyo_node.

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