Hey Pablo,

I recently used ROSARIA with the navigation stack and a Hokuyo 04LX.
It works very well.

You can connect directly to the platform via its serial port (you need a usb
to serial cable for that).
ROSARIA accepts velocity commands (geometry_msgs/twist) and broadcast pose
messages nav_msgs::Odometry.

All I had to do (appart from tunning the nav stack parameters) was to create
a node that broadcast the laser TF frame and transform pose messages in a TF
transform (see file enclosed).
http://ros-users.122217.n3.nabble.com/file/n1288712/pioneer_tf.cpp
pioneer_tf.cpp 

I used the standard hokuyo node to handle laser scans.

This is the main launch file I use to get my platform ready to navigate.
http://ros-users.122217.n3.nabble.com/file/n1288712/pioneer_configuration.launch
pioneer_configuration.launch 

This is a quick result: http://www.youtube.com/watch?v=f3Iu2t0d3xo

Raph


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