I have done an initial port of urg_node to ROS 2 which you can find here:
https://github.com/bponsler/urg_node/tree/ros2-devel
It should compile and run, but has not yet been tested with an actual sensor, so you may run into issues. You'll be able to find links to all of the necessary dependencies here:
https://github.com/bponsler/ros2-support
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