Package that provides a ROS interface for the sonar array in UbiquityRobotics robots
Branch: kinetic
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launch rename to pi_sonar fixes #8 Jun 4, 2018
CHANGELOG.rst 0.4.0 Feb 16, 2019
CMakeLists.txt Basic diagnostics added Aug 4, 2018 fix incorrect launch file in the README Oct 11, 2018
package.xml 0.4.0 Feb 16, 2019

Pi Sonar Node

Sonar Sensor Handling based on pigpio library.

To build:

cd ~/catkin_ws/src
git clone
cd ..
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 {ref to pull}