minion_ultrasonic_ros2
A simple ROS2 module for cheap HC-SR04 style ultrasonic sensors.
Create ROS2 workspace, check this repo out int the src and do
rosdep install -i --from-path src --rosdistro foxy -y
colcon build --packages-select minion_ultrasonic
In an shell got to the workspace do something like
source /opt/ros/foxy/setup.bash
. install/setup.bash
Run with
ros2 run minion_ultrasonic minion_ultrasonic
Or using launch file
ros2 launch minion_ultrasonic minion_ultrasonic_launch.py
Launch file can be used to set Pins (wiringPi numbers). Default config works for Yahboom G1 foward ultrasonic sensor.