Sonar

Camera
SONAR <- you are here

Follow along: Sonar Sensor Operation Example

The program launching process along with parameter settings are all simplified and set up on the Jupyter Notebook Environment.

Open the 02_sonar.ipynb Jupyter Notebook
Import the necessary python libraries and modules
Follow and Execute the example codes

(The Jetson Board used for these examples are => Jetson Nano)

Open the following jupyter notebook:

02_sonar.ipynb
To run the cells within the notebook use Ctrl + Enter

Import the necessary python libraries and modules

import rospy
from std_msgs.msg import Float32MultiArray

Create zetabot Node
sonar Topic Subscribe
Check message in data array format

def process_sonar(msg):
    rospy.loginfo("data[0]: {},data[1]: {},data[2]: {},data[3]: {}".format(msg.data[0], msg.data[1], msg.data[2], msg.data[3]))

def start_node():
    rospy.init_node('zetabot')
    rospy.Subscriber("sonar", Float32MultiArray, process_sonar)
    rospy.spin()

try:
    start_node()
except rospy.ROSInterruptException as err:
    print(err)

Create zetabot Node
sonar Topic Subscribe
Check the message according to the direction

def process_sonar(msg):
    rospy.loginfo("Front: {}, Right: {}, Back: {}, Left: {}".format(msg.data[0], msg.data[1], msg.data[2], msg.data[3]))

def start_node():
    rospy.init_node('zetabot')
    rospy.Subscriber("sonar", Float32MultiArray, process_sonar)
    rospy.spin()

try:
    start_node()
except rospy.ROSInterruptException as err:
    print(err)