This kind of code is what I would use for normalizing and mapping Affy U133A CEL files using customCDFs (from Dai et al) to Entrez gene IDs and Symbols. You should be able to adapt for U95Av2.

library(affy)
library(gcrma)
library(hgu133ahsentrezgcdf) #cdfname="HGU133A_HS_ENTREZG"
library(hgu133ahsentrezgprobe)
library(hgu133ahsentrezg.db)

#Set working directory for output
setwd("~/output_dir")

#Set CDF to use
cdf="HGU133A_HS_ENTREZG"

#Read in the raw data from specified dir of CEL files
raw.data.ALL=ReadAffy(verbose=TRUE, celfile.path="/path/to/cel/files", cdfname=cdf)

#perform GCRMA normalization
data.gcrma.norm.ALL=gcrma(raw.data.ALL)

#Get the important stuff out of the data - the expression estimates for each array
gcrma.ALL=exprs(data.gcrma.norm.ALL)

#Remove control probes
gcrma.ALL=gcrma.ALL[1:12065,] #Remove Affy control probes, custom CDF

#Format values to 5 decimal places
gcrma.ALL=format(gcrma.ALL, digits=5)

#Map probes to gene symbols
#To see all mappings for Entrez gene db associated with customCDF
ls("package:hgu133ahsentrezg.db") #customCDF

#Extract probe ids, entrez symbols, and entrez ids
probes.ALL=row.names(gcrma.ALL)
symbol.ALL = unlist(mget(probes.ALL, hgu133ahsentrezgSYMBOL))
ID.ALL = unlist(mget(probes.ALL, hgu133ahsentrezgENTREZID))

#Combine gene annotations with raw data
gcrma.ALL=cbind(probes.ALL,ID.ALL,symbol.ALL,gcrma.ALL)

#Write GCRMA-normalized, mapped data to file
write.table(gcrma.ALL, file = "ALL_gcrma.txt", quote = FALSE, sep = "\t", row.names = FALSE, col.names = TRUE)