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The Hokuyo UTM-30LX sensors should be installed on six of the robots.  The driver for each is already installed and automatically started on each robot.   Thanks to Drew Watson for initiating this setup: Hokuyo UTM-30LX Scanning Laser Rangefinder

We use the hokuyo_node ROS driver on the Pioneers:

The driver publishes the laser scan data as Laser Scan message:

As an example, below is a video of the laser scan data visualized in rviz - the corresponding rviz config file:  and launch file:

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