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Revision 85538662

ID855386623f71e8f31cd5440dc59858a73954bf2a

Added by Alex Zirbel over 2 years ago

Updated the sonar module prototype.

The biggest change to the proposed node is a restructuring of the sonar code style. Two services (sonar_toggle and sonar_set_scan) allow another node to turn the sonar on and off. The sonar constantly scans, keeps track of its position, and publishes all its readings in the topic sonar_direction.msg.

Added the appropriate message and service files, and the code skeleton.

The most obvious missing part of the code is the part which controls the movement of the sonar sensor, which should constantly scan between two ranges without user intervention.

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