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In a terminal (don't type the '$'): $ roscore

In another Terminal: $ rosrun urg_node urg_node

In another Terminal: $ rosrun rviz rviz

In rviz, you can use the 'add' button on the lower left of the screen to add a display I think you want to use pointcloud or pointcloud2 but you should be able click around and find what you need. Then you just need to set the topic for the display to /laserscan and rviz should show you the laserscan data on the screen.

This is all off the top of my head however, and I don't have that specific Hokuyo. Good luck!