Pi_sonar integration with the navigation


I would like to integrate the sonar sensor with my autonomous navigation, I have a Magni Silver and the sonar sensor. But i did a new package to navigation, and now i need to integrate the sonar sensor with this package. How can I do it? Can i use the pi_sonar pack that is in the GitHub?
Thank you for the atention


If the pi sonars are operating they should publish distances in meters on the pi-sonar topics. You should be able to subscribe to these topics and integrate the output to your nodes.


Here is some information on sonars, https://learn.ubiquityrobotics.com/sensors

Don’t hesitate to ask if you have any trouble.