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The following udev rule uses the latest installed ROS version. Make sure to restart or run sudo udevadm trigger to load and trigger the rule.

#### Install ###############################################################################
# sudo cp 90-HokuyoLidarRules.rules /etc/udev/rules.d/                                     #
# sudo udevadm control --reload-rules && sudo service udev restart && sudo udevadm trigger #
############################################################################################

# Hokuyo USB Lidars
KERNEL=="ttyACM[0-9]*", ACTION=="add", ATTRS{idVendor}=="15d1", MODE="0666", GROUP="dialout", PROGRAM="/bin/sh -c '$(find /opt/ros -name env.sh | sort -r | head -1) rosrun urg_node getID %N q'", SYMLINK+="sensors/hokuyo_%c"

Source: https://bitbucket.org/DataspeedInc/mobility_base_ros/src/42ba6e1b56d43897a3666d015ff09e2859f608b5/mobility_base_bringup/udev/90-HokuyoLidarRules.rules?at=default&fileviewer=file-view-default

The mobility_base_bringup package also installs the udev rules when installed as a binary Debian package.