RTC:HokuyoAist is an RT Component for the OpenRTM-aist middleware. It provides a driver for Hokuyo laser range sensors. It wraps the hokuyo_aist library from Gearbox. It functions with all current models of laser scanner, including the URG-04LX (Classic-URG), UHG-08LX (Hi-URG), UTM-30LX (Top-URG) and UXM-30LX/UXM-30LX-E (Tough-URG).
Download it from the download page. Installation instructions can be found in the manual.pdf file contained in the source archive.