A new public repository is available for users who want to use their own sonar detection scheme and are not going to be using the sonar detection built into our move_basic node.
See the Readme and repository here: https://github.com/UbiquityRobotics/sonar_detector
This node is to assist users who do not use move_basic so that a collision avoidance is available to users doing other more basic things than navigation modes but want to avoid hitting things.