Pi Sonar Node

Sonar Sensor Handling based on pigpio library.

To build:

cd ~/catkin_ws/src
git clone https://github.com/UbiquityRobotics/pi_sonar.git
cd ..
catkin_make
source devel/setup.bash

The node needs to run as the user root to access GPIO, hence the following unconventional steps:

sudo chown root ~/catkin_ws/devel/lib/pi_sonar/pi_sonar
sudo chmod 4755 ~/catkin_ws/devel/lib/pi_sonar/pi_sonar

To run:

roslaunch pi_sonar ubiquity_sonar.launch

For developers only

Update pigpio:

git subtree pull --squash --prefix=pigpio https://github.com/joan2937/pigpio.git {ref to pull}