Using the Docker Container

Placing the ros2_nodes folder as /root/ros2_ws/src

This will make it so your files don't get deleted when the container ends

docker run -it --rm --privileged -v ${PWD}/ros2_nodes:/root/ros2_ws/src humble

Info about sonar

• Power Supply :+5V DC
• Quiescent Current : <2mA
• Working Current: 15mA
• Effectual Angle: <15°
• Ranging Distance : 2cm – 400 cm/1″ – 13ft
• Resolution : 0.3 cm
• Measuring Angle: 30 degree
• Trigger Input Pulse width: 10uS TTL pulse
• Echo Output Signal: TTL pulse proportional to the distance range
• Dimension: 45mm x 20mm x 15mm