# Pi\_sonar integration with the navigation

**URL:** <https://forum.ubiquityrobotics.com/t/pi-sonar-integration-with-the-navigation/245>\
**Category:** General Questions\
**Created:** [January 22, 2019, 2:00pm UTC](https://forum.ubiquityrobotics.com/t/pi-sonar-integration-with-the-navigation/245 "2019-01-22T14:00:00Z")\
**Posts on this page:** 4\
**Page:** 1

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**Author:** ![Wacholski](https://forum.ubiquityrobotics.com/letter_avatar_proxy/v4/letter/w/bc8723/32.png) [@Wacholski](https://forum.ubiquityrobotics.com/u/Wacholski)\
**Post date:** [January 22, 2019, 2:00pm UTC](https://forum.ubiquityrobotics.com/t/pi-sonar-integration-with-the-navigation/245/1 "2019-01-22T14:00:01Z")

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Hello,  
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

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**Author:** ![davecrawley](https://forum.ubiquityrobotics.com/user_avatar/forum.ubiquityrobotics.com/davecrawley/32/24_2.png) [@davecrawley](https://forum.ubiquityrobotics.com/u/davecrawley)\
**Post date:** [January 22, 2019, 5:48pm UTC](https://forum.ubiquityrobotics.com/t/pi-sonar-integration-with-the-navigation/245/2 "2019-01-22T17:48:00Z")

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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.

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**Author:** ![rohbotics](https://forum.ubiquityrobotics.com/user_avatar/forum.ubiquityrobotics.com/rohbotics/32/222_2.png) [@rohbotics](https://forum.ubiquityrobotics.com/u/rohbotics)\
**Post date:** [January 23, 2019, 6:22am UTC](https://forum.ubiquityrobotics.com/t/pi-sonar-integration-with-the-navigation/245/3 "2019-01-23T06:22:10Z")

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Here is some information on sonars, [https://learn.ubiquityrobotics.com/sensors](https://learn.ubiquityrobotics.com/sensors)

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

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**Author:** ![Wacholski](https://forum.ubiquityrobotics.com/letter_avatar_proxy/v4/letter/w/bc8723/32.png) [@Wacholski](https://forum.ubiquityrobotics.com/u/Wacholski)\
**Post date:** [March 12, 2019, 12:27pm UTC](https://forum.ubiquityrobotics.com/t/pi-sonar-integration-with-the-navigation/245/4 "2019-03-12T12:27:44Z")

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We integrated he sonar with the navigation using the plug-in Range-sensor-layer.  
Thank you so much