Successfully interfaced Arduino Mega 2560 with Hokuyo URG-04LX-UG01 LiDAR using a USB Host Shield 2.0 from Circuits @ Home....the LiDAR gives the device descriptors fine....next step is to send the VV commands and receive info from LiDAR using other USB library functions.....

I'll mount this lidar on ardupilot mega quad once this is done....planning to send lidar data to GCS via XBee....

So the modules connect like this:

LiDAR -> USB Host Shield -> Arduino Mega 2560 (on quad) -> Xbee -> GCS -> ROS