I cannot see why the configuration of the Udev subsystem under SLES 11 should be any different from Oracle Linux.
Perhaps you can install Oracle ASMlib, which can make managing of ASM disks more user friendly. As far as I know, Novell provides the kernel driver (oracleasm-kmp-default), and you can download the remaining software from http://www.oracle.com/technetwork/server-storage/linux/downloads/sles11-099661.html.
The creation of /etc/scsi_id to configure trusted SCSI devices is actually mentioned in the documentation you outlined in your initial post.
You might want to check your owner and group for the ASM devices. Normally they are user "oracle" and group "dba". It needs to be according to the information you entered when you installed the Grid software.