by now you should have plenty of information on how to interface (you would have had it sooner had you searched).
one thing that I have learned is that you need to mount the sensor away from the floor. I had a minisumo bot and mounted a GP2 about 2 inches from the bottom. I got significant floor scatter - this appeared to be noise at first (4-5 LSBs worth). Moving it higher resulted in a significant reduction in the noise level. still, it was pretty noisy - 2-3 LSBs. I used a simple FIR to get the noise down to around 1.5 LSBs which was good enough for a minisumo.