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add
KERNEL=="ttyACM[0-9]*", SUBSYSTEM=="tty", SUBSYSTEMS=="usb", ATTRS{idVendor}=="15d1", ATTRS{idProduct}=="0000", SYMLINK+="hokuyo_lidar"
to /etc/udev/rules.d/99-lidar.rules
see https://wiki.archlinux.org/index.php/Udev#Writing_udev_rules