The provider_sonar package is the module handling the Tritech DST Micron sonar.
The sonar works with a proprietary SeaNet RS-232 Protocol.


Usage Example

A launch file exists for launching the provider_sonar package. One you have compiled and sourced the devel/setup.bash file, you can simply execute:

roslaunch provider_sonar provider_sonar.launch

This will start the sonar and open all the published topics.

Global Architecture

Class Diagrams

Class Diagram

INS Flowcharts

State Machine