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}